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It looks like moveit_joy.py isn't included in the Ubuntu binaries for MoveIt

There was a patch submitted to MoveIt to fix this about six months back, but there hasn't been a release since then, so that fix hasn't made it to binaries.

It looks like the MoveIt community is in the process of trying to release a new version: https://github.com/ros-planning/moveit_core/issues/270

Until then, you should be able to get around your issue by using MoveIt from source.

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