#include <cassert>#include <map>#include <pinocchio/fwd.hpp>#include <boost/foreach.hpp>#include <boost/format.hpp>#include <boost/program_options.hpp>#include <sensor_msgs/JointState.h>#include "ros/ros.h"#include "std_srvs/Empty.h"#include <sot/core/abstract-sot-external-interface.hh>#include <sot/core/debug.hh>

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