#include <franka_example_controllers/cartesian_pose_example_controller.h>#include <cmath>#include <memory>#include <stdexcept>#include <string>#include <controller_interface/controller_base.h>#include <franka_hw/franka_cartesian_command_interface.h>#include <hardware_interface/hardware_interface.h>#include <pluginlib/class_list_macros.h>#include <ros/ros.h>
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