#include <serl_franka_controllers/cartesian_impedance_controller.h>#include <cmath>#include <memory>#include <controller_interface/controller_base.h>#include <franka/robot_state.h>#include <pluginlib/class_list_macros.h>#include <ros/ros.h>#include <serl_franka_controllers/pseudo_inversion.h>#include <ros/console.h>
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