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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/images/yaml.png b/workcell_builder/workcell_builder/images/yaml.png
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/armhand_xacro_parser.h b/workcell_builder/workcell_builder/include/armhand_xacro_parser.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/armhand_xacro_parser.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/axis.h b/workcell_builder/workcell_builder/include/attributes/axis.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/axis.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/collision.h b/workcell_builder/workcell_builder/include/attributes/collision.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/collision.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/end_effector.h b/workcell_builder/workcell_builder/include/attributes/end_effector.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/environment.h b/workcell_builder/workcell_builder/include/attributes/environment.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/external_joint.h b/workcell_builder/workcell_builder/include/attributes/external_joint.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/external_object.h b/workcell_builder/workcell_builder/include/attributes/external_object.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/external_object.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/geometry.h b/workcell_builder/workcell_builder/include/attributes/geometry.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/geometry.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/inertia.h b/workcell_builder/workcell_builder/include/attributes/inertia.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/inertia.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/joint.h b/workcell_builder/workcell_builder/include/attributes/joint.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/joint.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/link.h b/workcell_builder/workcell_builder/include/attributes/link.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/link.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/material.h b/workcell_builder/workcell_builder/include/attributes/material.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/material.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/object.h b/workcell_builder/workcell_builder/include/attributes/object.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/object.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/origin.h b/workcell_builder/workcell_builder/include/attributes/origin.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/origin.h
rename to workcell_builder/workcell_builder/include/attributes/origin.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/robot.h b/workcell_builder/workcell_builder/include/attributes/robot.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/robot.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/scene.h b/workcell_builder/workcell_builder/include/attributes/scene.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/scene.h
rename to workcell_builder/workcell_builder/include/attributes/scene.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/visual.h b/workcell_builder/workcell_builder/include/attributes/visual.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/visual.h
rename to workcell_builder/workcell_builder/include/attributes/visual.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/attributes/workcell.h b/workcell_builder/workcell_builder/include/attributes/workcell.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/file_functions.h b/workcell_builder/workcell_builder/include/file_functions.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/object_package_parser.h b/workcell_builder/workcell_builder/include/object_package_parser.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/object_xacro_parser.h b/workcell_builder/workcell_builder/include/object_xacro_parser.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/object_xacro_parser.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/print_functions.h b/workcell_builder/workcell_builder/include/print_functions.h
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rename to workcell_builder/workcell_builder/include/print_functions.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/scene_check.h b/workcell_builder/workcell_builder/include/scene_check.h
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rename to workcell_builder/workcell_builder/include/scene_check.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/scene_parser.h b/workcell_builder/workcell_builder/include/scene_parser.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/scene_parser.h
rename to workcell_builder/workcell_builder/include/scene_parser.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/scene_xacro_parser.h b/workcell_builder/workcell_builder/include/scene_xacro_parser.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/scene_xacro_parser.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/axis_parser.h b/workcell_builder/workcell_builder/include/yaml_parser/axis_parser.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/axis_parser.h
rename to workcell_builder/workcell_builder/include/yaml_parser/axis_parser.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/collision_parser.h b/workcell_builder/workcell_builder/include/yaml_parser/collision_parser.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/collision_parser.h
rename to workcell_builder/workcell_builder/include/yaml_parser/collision_parser.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/externaljoint_parser.h b/workcell_builder/workcell_builder/include/yaml_parser/externaljoint_parser.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/externaljoint_parser.h
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diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/generate_yaml (copy).h b/workcell_builder/workcell_builder/include/yaml_parser/generate_yaml (copy).h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/generate_yaml (copy).h
rename to workcell_builder/workcell_builder/include/yaml_parser/generate_yaml (copy).h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/generate_yaml.h b/workcell_builder/workcell_builder/include/yaml_parser/generate_yaml.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/generate_yaml.h
rename to workcell_builder/workcell_builder/include/yaml_parser/generate_yaml.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/geometry_parser.h b/workcell_builder/workcell_builder/include/yaml_parser/geometry_parser.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/geometry_parser.h
rename to workcell_builder/workcell_builder/include/yaml_parser/geometry_parser.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/inertial_parser.h b/workcell_builder/workcell_builder/include/yaml_parser/inertial_parser.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/inertial_parser.h
rename to workcell_builder/workcell_builder/include/yaml_parser/inertial_parser.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/joint_parser.h b/workcell_builder/workcell_builder/include/yaml_parser/joint_parser.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/joint_parser.h
rename to workcell_builder/workcell_builder/include/yaml_parser/joint_parser.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/link_parser.h b/workcell_builder/workcell_builder/include/yaml_parser/link_parser.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/link_parser.h
rename to workcell_builder/workcell_builder/include/yaml_parser/link_parser.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/material_parser.h b/workcell_builder/workcell_builder/include/yaml_parser/material_parser.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/material_parser.h
rename to workcell_builder/workcell_builder/include/yaml_parser/material_parser.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/object_parser.h b/workcell_builder/workcell_builder/include/yaml_parser/object_parser.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/object_parser.h
rename to workcell_builder/workcell_builder/include/yaml_parser/object_parser.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/origin_parser.h b/workcell_builder/workcell_builder/include/yaml_parser/origin_parser.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/origin_parser.h
rename to workcell_builder/workcell_builder/include/yaml_parser/origin_parser.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/visual_parser.h b/workcell_builder/workcell_builder/include/yaml_parser/visual_parser.h
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/include/yaml_parser/visual_parser.h
rename to workcell_builder/workcell_builder/include/yaml_parser/visual_parser.h
diff --git a/easy_manipulation_deployment/workcell_builder/workcell_builder/package.xml b/workcell_builder/workcell_builder/package.xml
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rename from easy_manipulation_deployment/workcell_builder/workcell_builder/package.xml
rename to workcell_builder/workcell_builder/package.xml