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/usr/include/urdf_model_state/twist.h is in liburdfdom-headers-dev 0.4.1-2.

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/*********************************************************************
* Software License Agreement (BSD License)
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#ifndef URDF_MODEL_STATE_TWIST_
#define URDF_MODEL_STATE_TWIST_

#warning "Please Use #include <urdf_model/twist.h>"

#include <urdf_model/twist.h>

#endif