#include <franka_control/franka_state_controller.h>#include <cmath>#include <memory>#include <mutex>#include <string>#include <franka/errors.h>#include <franka_hw/franka_cartesian_command_interface.h>#include <franka_msgs/Errors.h>#include <hardware_interface/hardware_interface.h>#include <pluginlib/class_list_macros.h>#include <ros/ros.h>#include <tf/tf.h>#include <tf/transform_datatypes.h>
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