iCub-main
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#include <iostream>
#include <sstream>
#include <iomanip>
#include <string>
#include "stdio.h"
#include <yarp/os/ConnectionReader.h>
#include <yarp/os/ConnectionWriter.h>
#include <yarp/math/Math.h>
#include "iCub/skinDynLib/dynContact.h"
#include <iCub/ctrl/math.h>