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This particular instance is not going to work easily -- because an effort[] field was added to trajectory_mgs/JointTrajectory in an attempt to better unify grasping and manipulation. This means that the trajectories output from MoveIt in Hydro will not work properly in Groovy as the MD5 checksum has indeed changed. Also, much of the Pick/Place aspects of moveit_msgs has been updated to remove a dependency on manipulation_msgs, so those messages will have completed changed since Groovy as well.