#include <angles/angles.h>#include <controller_manager_msgs/ListControllers.h>#include <controller_manager_msgs/SwitchController.h>#include <franka/duration.h>#include <franka_example_controllers/pseudo_inversion.h>#include <franka_gazebo/franka_hw_sim.h>#include <franka_gazebo/model_kdl.h>#include <franka_hw/franka_hw.h>#include <franka_hw/services.h>#include <franka_msgs/SetEEFrame.h>#include <franka_msgs/SetForceTorqueCollisionBehavior.h>#include <franka_msgs/SetKFrame.h>#include <franka_msgs/SetLoad.h>#include <gazebo_ros_control/robot_hw_sim.h>#include <joint_limits_interface/joint_limits_urdf.h>#include <std_msgs/Bool.h>#include <std_srvs/SetBool.h>#include <Eigen/Dense>#include <boost/algorithm/clamp.hpp>#include <boost/optional.hpp>#include <iostream>#include <sstream>#include <string>
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