#include <moveit/planning_scene_interface/planning_scene_interface.h>#include <moveit/py_bindings_tools/roscpp_initializer.h>#include <moveit/py_bindings_tools/py_conversions.h>#include <moveit/py_bindings_tools/serialize_msg.h>#include <boost/function.hpp>#include <boost/python.hpp>#include <Python.h>