#include <stdexcept>#include <moveit/moveit_cpp/planning_component.h>#include <moveit/kinematic_constraints/utils.h>#include <moveit/planning_pipeline/planning_pipeline.h>#include <moveit/planning_scene_monitor/planning_scene_monitor.h>#include <moveit/robot_state/conversions.h>#include <thread>#include <moveit/utils/logger.hpp>
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