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Prosecutor Simon Morgan has told the court that a catalogue of weapons were found in the defendants' car when they were arrested near Joss Stone's home in Devon in June 2011.
He said the items included a samurai sword, two hammers, a hose pipe, balaclavas and roll of gaffer tape.
Outlining his case against Kevin Liverpool, 35, and Junior Bradshaw, 32, he said the phrase "to rob and kill Joss Stone" was not plucked out of the air, but was taken from notes they had written.
A jury has heard today how two men were part of a plot to rob and kill soul singer Joss Stone.
Kevin Liverpool, 35, and Junior Bradshaw, 32, both of St Stephens Close in Manchester, stand accused of collecting weapons and driving from Manchester in a Fiat Punto to near Miss Stone's home in Devon in June 2011.
The pair deny charges of conspiracy to murder, conspiracy to cause GBH and conspiracy to rob. The trial at Exeter Crown Court is due to last for around three weeks.
Latest ITV News reports
Kevin Liverpool and Junior Bradshaw drove to Stone's home with an arsenal of weapons and planned to behead her.