├── .clang-format ├── .github ├── CODEOWNERS ├── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md └── workflows │ └── ci.yml ├── .gitignore ├── .tags ├── CHANGELOG.md ├── CMakeLists.txt ├── HumanDynamicsEstimationLibrary ├── CMakeLists.txt ├── algorithms │ ├── CMakeLists.txt │ ├── include │ │ └── hde │ │ │ └── algorithms │ │ │ ├── DynamicalInverseKinematics.hpp │ │ │ └── InverseVelocityKinematics.hpp │ └── src │ │ ├── DynamicalInverseKinematics.cpp │ │ └── InverseVelocityKinematics.cpp └── utils │ ├── CMakeLists.txt │ ├── include │ └── hde │ │ └── utils │ │ └── iDynTreeUtils.hpp │ └── src │ └── iDynTreeUtils.cpp ├── LICENSE ├── README.md ├── XSensMVN ├── CMakeLists.txt ├── include │ ├── XSensCalibrationQualities.h │ ├── XSensLogger.h │ ├── XSensMVNCalibrator.h │ ├── XSensMVNDriver.h │ ├── XSensMVNDriverImpl.h │ ├── XSensMVNDriverImplBCKP.h │ └── XSensMVNDriverStates.h ├── src │ ├── XSensMVNCalibrator.cpp │ ├── XSensMVNDriver.cpp │ ├── XSensMVNDriverImpl.cpp │ └── XSensMVNDriverImpl_BCKP.cpp └── test │ ├── CMakeLists.txt │ ├── testCalibrator.cpp │ └── testDriver.cpp ├── app ├── CMakeLists.txt ├── Wearables-yarpmanager.ini └── xml │ ├── AMTIForcePlatesWearableDevice.xml │ ├── FTShoeLeftWearableDevice.xml │ ├── FTShoeRightWearableDevice.xml │ ├── FTShoesWearableDevice.xml │ ├── FTShoesWearableDevice_2.xml │ ├── ICubWearableDevice.xml │ ├── PRO01_FTShoesWearableDevice.xml │ ├── SkinInsolesWearableDevice.xml │ ├── XsensSuitWearableDevice.xml │ ├── applications │ ├── HumanDynamicsEstimation-WearableDumper.xml │ ├── WearableDevices-Dumper.xml │ └── WearableDevices.xml │ └── iWearLoggerExampleTemplate.xml ├── ci_env.yml ├── clients ├── CMakeLists.txt ├── HumanDynamics_nwc_yarp │ ├── CMakeLists.txt │ ├── HumanDynamics_nwc_yarp.cpp │ ├── HumanDynamics_nwc_yarp.h │ └── conf │ │ └── HumanDynamics_nwc_yarpExample.xml ├── HumanState_nwc_yarp │ ├── CMakeLists.txt │ ├── HumanState_nwc_yarp.cpp │ └── HumanState_nwc_yarp.h ├── HumanWrench_nwc_yarp │ ├── CMakeLists.txt │ ├── HumanWrench_nwc_yarp.cpp │ ├── HumanWrench_nwc_yarp.h │ └── conf │ │ ├── HumanWrenchRemapperExample.xml │ │ └── HumanWrench_nwc_yarpExample.xml └── WearableTargets_nwc_yarp │ ├── CMakeLists.txt │ ├── WearableTargets_nwc_yarp.cpp │ └── WearableTargets_nwc_yarp.h ├── cmake ├── AddComponent.cmake ├── AddHDEPythonModule.cmake ├── AddInstallRPATHSupport.cmake ├── AddWarningsConfigurationToTarget.cmake ├── AddWearablesPythonModule.cmake ├── FindSenseGlove.cmake └── FindXsensXME.cmake ├── conf ├── CMakeLists.txt ├── HDE-yarpmanager.ini ├── app │ ├── HumanStateVisualizer.ini │ ├── HumanStateVisualizerWithDynamics.ini │ ├── HumanStateVisualizer_ergoCub_openxr.ini │ ├── HumanStateVisualizer_ergoCub_openxr_ifeel.ini │ ├── HumanStateVisualizer_iCub2_5.ini │ ├── HumanStateVisualizer_iCub2_5_openxr.ini │ ├── HumanStateVisualizer_iCub2_5_openxr_ifeel.ini │ ├── HumanStateVisualizer_iCub3.ini │ ├── HumanStateVisualizer_iCub3_openxr.ini │ ├── HumanStateVisualizer_iCub3_openxr_ifeel.ini │ ├── HumanStateVisualizer_iRonCub_openxr.ini │ └── HumanStateVisualizer_iRonCub_openxr_ifeel.ini ├── iFeelOpenXRCalibration.sh ├── ros │ ├── launch │ │ ├── HDERviz.launch │ │ ├── iCub3Rviz.launch │ │ ├── iCubRviz.launch │ │ └── twoHumansRviz.launch │ ├── package.xml │ └── rviz │ │ ├── HDERviz.rviz │ │ ├── iCubRviz.rviz │ │ └── twoHumansRviz.rviz ├── urdfs │ ├── iCubGazeboV2_5.urdf │ ├── iCubGenova02.urdf │ ├── iCubGenova04.urdf │ ├── teleoperation_iCub_model_V_2_5.urdf │ └── teleoperation_iCub_model_V_3.urdf └── xml │ ├── Human.xml │ ├── HumanJointTorquesYarpScope.xml │ ├── HumanLoggerExample.xml │ ├── HumanStateProvider.xml │ ├── HumanStateProvider_second.xml │ ├── RobotPosePublisher.xml │ ├── RobotPositionController_iCub.xml │ ├── RobotPositionController_iCub2_5.xml │ ├── RobotStateProvider_Atlas.xml │ ├── RobotStateProvider_Baxter.xml │ ├── RobotStateProvider_Human.xml │ ├── RobotStateProvider_Nao.xml │ ├── RobotStateProvider_Walkman.xml │ ├── RobotStateProvider_ergoCub_openxr.xml │ ├── RobotStateProvider_ergoCub_openxr_5trackers.xml │ ├── RobotStateProvider_ergoCub_openxr_5ultimateTrackers.xml │ ├── RobotStateProvider_ergoCub_openxr_ifeel.xml │ ├── RobotStateProvider_ergoCub_openxr_joystick.xml │ ├── RobotStateProvider_ergoCub_openxr_joystick_trackers.xml │ ├── RobotStateProvider_ergoCub_openxr_joystick_ultimateTrackers.xml │ ├── RobotStateProvider_iCub2_5.xml │ ├── RobotStateProvider_iCub2_5_Pole.xml │ ├── RobotStateProvider_iCub2_5_openxr.xml │ ├── RobotStateProvider_iCub2_5_openxr_ifeel.xml │ ├── RobotStateProvider_iCub3.xml │ ├── RobotStateProvider_iCub3_Pole.xml │ ├── RobotStateProvider_iCub3_Xsens_SenseGlove.xml │ ├── RobotStateProvider_iCub3_openxr.xml │ ├── RobotStateProvider_iCub3_openxr_ifeel.xml │ ├── RobotStateProvider_iRonCub_openxr.xml │ ├── RobotStateProvider_iRonCub_openxr_5trackers.xml │ ├── RobotStateProvider_iRonCub_openxr_ifeel.xml │ ├── TransformServer.xml │ ├── WholeBodyRetargeting.xml │ ├── applications │ ├── HDERetargeting_iCub2_5.xml │ ├── HDERetargeting_iCub2_5_ifeel.xml │ ├── HumanDynamicsEstimation-HumanDumper.xml │ ├── HumanDynamicsEstimation-HumanDynamics.xml │ ├── HumanDynamicsEstimation-HumanKinematics.xml │ ├── HumanDynamicsEstimation-pHRI.xml │ ├── HumanDynamicsEstimation.xml │ ├── XsensRetargetingPositionControlPoleiCub2_5.xml │ ├── XsensRetargetingPositionControlPoleiCub3.xml │ ├── XsensRetargetingVisualizationiCub2_5.xml │ └── XsensRetargetingVisualizationiCub3.xml │ ├── hands-pHRI.xml │ ├── pHRI.xml │ └── transformServer_to_iwear.xml ├── devices ├── CMakeLists.txt ├── FTShoes │ ├── CMakeLists.txt │ ├── include │ │ └── FTShoes.h │ └── src │ │ └── FTShoes.cpp ├── HumanControlBoard │ ├── CMakeLists.txt │ ├── HumanControlBoard.cpp │ ├── HumanControlBoard.h │ └── tests │ │ └── HumanSimulinkController │ │ ├── humanTestController.mdl │ │ └── initHumanController.m ├── HumanDynamicsEstimator │ ├── CMakeLists.txt │ ├── HumanDynamicsEstimator.cpp │ └── HumanDynamicsEstimator.h ├── HumanLogger │ ├── CMakeLists.txt │ ├── HumanLogger.cpp │ └── HumanLogger.h ├── HumanStateProvider │ ├── CMakeLists.txt │ ├── HumanStateProvider.cpp │ ├── HumanStateProvider.h │ ├── IKWorkerPool.cpp │ └── IKWorkerPool.h ├── HumanWrenchProvider │ ├── CMakeLists.txt │ ├── HumanWrenchProvider.cpp │ ├── HumanWrenchProvider.h │ ├── WrenchFrameTransformers.cpp │ └── WrenchFrameTransformers.h ├── IAnalogSensorToIWear │ ├── CMakeLists.txt │ ├── conf │ │ └── ianalogsensor_to_iwear.xml │ ├── include │ │ └── IAnalogSensorToIWear.h │ └── src │ │ └── IAnalogSensorToIWear.cpp ├── ICub │ ├── CMakeLists.txt │ ├── conf │ │ └── ICub.xml │ ├── include │ │ └── ICub.h │ └── src │ │ └── ICub.cpp ├── IFrameTransformToIWear │ ├── CMakeLists.txt │ ├── conf │ │ └── iframetransform_to_iwear.xml │ ├── include │ │ └── IFrameTransformToIWear.h │ └── src │ │ └── IFrameTransformToIWear.cpp ├── IWearRemapper │ ├── CMakeLists.txt │ ├── conf │ │ └── IWearRemapper.ini │ ├── include │ │ └── IWearRemapper.h │ └── src │ │ └── IWearRemapper.cpp ├── Paexo │ ├── CMakeLists.txt │ ├── conf │ │ ├── Paexo.xml │ │ ├── paexo-cmake-config.h.in │ │ └── paexo-validation-motor-control.sh │ ├── include │ │ └── Paexo.h │ ├── src │ │ └── Paexo.cpp │ └── test-application │ │ ├── CMakeLists.txt │ │ └── paexo-test-application.cpp ├── RobotPositionController │ ├── CMakeLists.txt │ ├── RobotPositionController.cpp │ └── RobotPositionController.h └── XsensSuit │ ├── CMakeLists.txt │ ├── conf │ └── XsensSuit.xml │ ├── include │ └── XsensSuit.h │ └── src │ └── XsensSuit.cpp ├── doc ├── How-to-run-FTshoes.md ├── How-to-run-XsensSuit.md ├── How-to-run-iCub-as-wearable-source.md ├── README.md ├── how-to-run-dynamics-estimation.md ├── how-to-run-inverse-kinematics.md └── how-to-run-whole-body-retargeting.md ├── impl ├── CMakeLists.txt └── SensorsImpl │ ├── CMakeLists.txt │ ├── SensorsImpl.cpp │ └── include │ └── Wearable │ └── IWear │ └── Sensors │ └── impl │ └── SensorsImpl.h ├── interfaces ├── CMakeLists.txt ├── IHumanDynamics │ ├── CMakeLists.txt │ └── hde │ │ └── interfaces │ │ └── IHumanDynamics.h ├── IHumanState │ ├── CMakeLists.txt │ └── hde │ │ └── interfaces │ │ └── IHumanState.h ├── IHumanWrench │ ├── CMakeLists.txt │ └── hde │ │ └── interfaces │ │ └── IHumanWrench.h ├── IWear │ ├── CMakeLists.txt │ └── include │ │ └── Wearable │ │ └── IWear │ │ ├── Actuators │ │ ├── IActuator.h │ │ ├── IHaptic.h │ │ ├── IHeater.h │ │ └── IMotor.h │ │ ├── Common.h │ │ ├── IWear.h │ │ ├── Sensors │ │ ├── IAccelerometer.h │ │ ├── IEmgSensor.h │ │ ├── IForce3DSensor.h │ │ ├── IForceTorque6DSensor.h │ │ ├── IFreeBodyAccelerationSensor.h │ │ ├── IGyroscope.h │ │ ├── IMagnetometer.h │ │ ├── IOrientationSensor.h │ │ ├── IPoseSensor.h │ │ ├── IPositionSensor.h │ │ ├── ISensor.h │ │ ├── ISkinSensor.h │ │ ├── ITemperatureSensor.h │ │ ├── ITorque3DSensor.h │ │ ├── IVirtualJointKinSensor.h │ │ ├── IVirtualLinkKinSensor.h │ │ └── IVirtualSphericalJointKinSensor.h │ │ └── Utils.h ├── IWearableTargets │ ├── CMakeLists.txt │ └── hde │ │ └── interfaces │ │ └── IWearableTargets.h └── IXsensMVNControl │ ├── CMakeLists.txt │ └── IXsensMVNControl.h ├── misc ├── hde_scheme.png └── humanModel.png ├── modules ├── CMakeLists.txt ├── HumanStateVisualizer │ ├── CMakeLists.txt │ └── src │ │ └── main.cpp └── IWearFrameVisualizer │ ├── CMakeLists.txt │ ├── conf │ └── HapticGloveFramesVisualizationConfig.ini │ └── src │ └── main.cpp ├── msgs ├── CMakeLists.txt └── thrift │ └── XsensSuitControlService.thrift ├── servers ├── CMakeLists.txt ├── HumanDynamics_nws_yarp │ ├── CMakeLists.txt │ ├── HumanDynamics_nws_yarp.cpp │ └── HumanDynamics_nws_yarp.h ├── HumanState_nws_yarp │ ├── CMakeLists.txt │ ├── HumanState_nws_yarp.cpp │ └── HumanState_nws_yarp.h ├── HumanWrench_nws_yarp │ ├── CMakeLists.txt │ ├── HumanWrench_nws_yarp.cpp │ └── HumanWrench_nws_yarp.h └── WearableTargets_nws_yarp │ ├── CMakeLists.txt │ ├── WearableTargets_nws_yarp.cpp │ └── WearableTargets_nws_yarp.h └── wrappers 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