#include <moveit_visual_tools/moveit_visual_tools.h>#include <moveit_msgs/DisplayTrajectory.h>#include <moveit_msgs/CollisionObject.h>#include <moveit/robot_state/conversions.h>#include <moveit/collision_detection/collision_tools.h>#include <moveit/macros/console_colors.h>#include <tf_conversions/tf_eigen.h>#include <eigen_conversions/eigen_msg.h>#include <geometric_shapes/solid_primitive_dims.h>#include <geometric_shapes/shape_operations.h>#include <string>#include <algorithm>#include <utility>#include <vector>#include <set>#include <limits>
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