robotology · traversaro · Dec 7, 2022 · Sep 28, 2022 · Sep 28, 2022 · Dec 7, 2022
diff --git a/iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini
@@ -1,7 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/left_arm/analog:o
-period 10
-
-device analogServer
-
+disableImplicitNetworkWrapper
+yarpDeviceName icub_left_arm_ft
diff --git a/iCub/conf_icub3/FT/gazebo_icub_left_foot_front_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_left_foot_front_ft.ini
@@ -1,7 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/left_foot_front/analog:o
-period 10
-
-device analogServer
-
+disableImplicitNetworkWrapper
+yarpDeviceName icub_left_foot_front_ft
diff --git a/iCub/conf_icub3/FT/gazebo_icub_left_foot_rear_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_left_foot_rear_ft.ini
@@ -1,7 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/left_foot_rear/analog:o
-period 10
-
-device analogServer
-
+disableImplicitNetworkWrapper
+yarpDeviceName icub_left_foot_rear_ft
diff --git a/iCub/conf_icub3/FT/gazebo_icub_left_leg_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_left_leg_ft.ini
@@ -1,7 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/left_leg/analog:o
-period 10
-
-device analogServer
-
+disableImplicitNetworkWrapper
+yarpDeviceName icub_left_leg_ft
diff --git a/iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini
@@ -1,7 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/right_arm/analog:o
-period 10
-
-device analogServer
-
+disableImplicitNetworkWrapper
+yarpDeviceName icub_right_arm_ft
diff --git a/iCub/conf_icub3/FT/gazebo_icub_right_foot_front_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_right_foot_front_ft.ini
@@ -1,6 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/right_foot_front/analog:o
-period 10
-
-device analogServer
+disableImplicitNetworkWrapper
+yarpDeviceName icub_right_foot_front_ft
diff --git a/iCub/conf_icub3/FT/gazebo_icub_right_foot_rear_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_right_foot_rear_ft.ini
@@ -1,6 +1,2 @@
-[include "../gazebo_icub_robotname.ini"]
-
-name /${gazeboYarpPluginsRobotName}/right_foot_rear/analog:o
-period 10
-
-device analogServer
+disableImplicitNetworkWrapper
+yarpDeviceName icub_right_foot_rear_ft
diff --git a/iCub/conf_icub3/FT/gazebo_icub_right_leg_ft.ini b/iCub/conf_icub3/FT/gazebo_icub_right_leg_ft.ini
@@ -1,6 +1,3 @@
-[include "../gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName icub_right_leg_ft
 
-name /${gazeboYarpPluginsRobotName}/right_leg/analog:o
-period 10
-
-device analogServer
diff --git a/iCub/conf_icub3/gazebo_icub_chest_inertial.ini b/iCub/conf_icub3/gazebo_icub_chest_inertial.ini
@@ -1,14 +1,2 @@
-[include "gazebo_icub_robotname.ini"]
-
-[WRAPPER]
-device multipleanalogsensorsserver
-name /${gazeboYarpPluginsRobotName}/chest/inertials
-period 10
-
-[ADDITIONAL_WRAPPER]
-device inertial
-name /${gazeboYarpPluginsRobotName}/chest/inertial
-period 0.01
-
-[IMU_DRIVER]
-device gazebo_imu
+disableImplicitNetworkWrapper
+yarpDeviceName chest_inertial_hardware_device
diff --git a/iCub/conf_icub3/gazebo_icub_depth_camera.ini b/iCub/conf_icub3/gazebo_icub_depth_camera.ini
@@ -1,11 +1,8 @@
-[include "gazebo_icub_robotname.ini"]
-
-device RGBDSensorWrapper
-period 30
-name /${gazeboYarpPluginsRobotName}/depthCamera
+disableImplicitNetworkWrapper
+yarpDeviceName icub_depth_camera
 
 [CAMERA_PARAM]
 focalLengthX 570.3422241210938
 focalLengthY 570.3422241210938
 tangentialPointX 0.0
-tangentialPointY 0.0
+tangentialPointY 0.0
diff --git a/iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini b/iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini
@@ -1,37 +1,14 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName head_hardware_device
 
-[WRAPPER]
-# name of the wrapper device to be instatiated by the factory
-device controlboardwrapper2
-# rate of output streaming from ports in ms
-period 10
-# output port name (a leading '/' will be added by code)
-name /${gazeboYarpPluginsRobotName}/head
-# Total number of joints
-joints 3
-# list of MotorControl device to use
-networks ( head )
-# for each network specify the joint map
-head 0 2 0 2
-# Verbose output (on if present, off if commented out)
-#verbose
-
-[TRAJECTORY_GENERATION]
-trajectory_type minimum_jerk
-
-# Specify configuration of MotorControl devices
-[head]
-# name of the device to be instatiated by the factory
-device gazebo_controlboard
-#jointNames list
 jointNames neck_pitch neck_roll neck_yaw
-name head
 
 min_stiffness 0.0    0.0    0.0   
 max_stiffness 1000.0 1000.0 1000.0
 min_damping   0.0    0.0    0.0   
 max_damping   100.0  100.0  100.0 
 
+
 #PIDs:
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
 [POSITION_CONTROL]

diff --git a/iCub/conf_icub3/gazebo_icub_inertial.ini b/iCub/conf_icub3/gazebo_icub_inertial.ini
@@ -1,14 +1,2 @@
-[include "gazebo_icub_robotname.ini"]
-
-[WRAPPER]
-device multipleanalogsensorsserver
-name /${gazeboYarpPluginsRobotName}/head/inertials
-period 10
-
-[ADDITIONAL_WRAPPER]
-device inertial
-name /${gazeboYarpPluginsRobotName}/inertial
-period 0.01
-
-[IMU_DRIVER]
-device gazebo_imu
+disableImplicitNetworkWrapper
+yarpDeviceName head_inertial_hardware_device
diff --git a/iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini b/iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini
@@ -1,38 +1,16 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName left_arm_hardware_device
 
-[WRAPPER]
-# name of the wrapper device to be instatiated by the factory
-device controlboardwrapper2
-# rate of output streaming from ports in ms
-period 10
-# output port name
-name /${gazeboYarpPluginsRobotName}/left_arm
-# Total number of joints
-joints 7
-# list of MotorControl device to use
-networks ( left_arm_no_hand )
-# for each network specify the joint map
-left_arm_no_hand 0 6 0 6
-
-# Verbose output (on if present, off if commented out)
-#verbose
-
-[TRAJECTORY_GENERATION]
-trajectory_type minimum_jerk
-
-# Specify configuration of MotorControl devices
-[left_arm_no_hand]
-# name of the device to be instatiated by the factory
-device gazebo_controlboard
-#jointNames list
 jointNames l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_prosup l_wrist_pitch l_wrist_yaw
-name left_arm_no_hand
 
 min_stiffness 0.0    0.0    0.0    0.0    0.0    0.0    0.0
 max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0
 min_damping   0.0    0.0    0.0    0.0    0.0    0.0    0.0
 max_damping   100.0  100.0  100.0  100.0  100.0  100.0  100.0
 
+[TRAJECTORY_GENERATION]
+trajectory_type minimum_jerk
+
 #PIDs:
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
 [POSITION_CONTROL]

diff --git a/iCub/conf_icub3/gazebo_icub_left_leg.ini b/iCub/conf_icub3/gazebo_icub_left_leg.ini
@@ -1,37 +1,16 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName left_leg_hardware_device
 
-[WRAPPER]
-# name of the wrapper device to be instatiated by the factory
-device controlboardwrapper2
-# rate of output streaming from ports in ms
-period 10
-# output port name (a leading '/' will be added by code)
-name /${gazeboYarpPluginsRobotName}/left_leg
-# Total number of joints
-joints 6
-# list of MotorControl device to use
-networks ( left_leg )
-# for each network specify the joint map
-left_leg 0 5 0 5
-# Verbose output (on if present, off if commented out)
-#verbose
-
-[TRAJECTORY_GENERATION]
-trajectory_type minimum_jerk
-
-# Specify configuration of MotorControl devices
-[left_leg]
-# name of the device to be instatiated by the factory
-device gazebo_controlboard
-#jointNames list
 jointNames l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll
-name left_leg
 
 min_stiffness 0.0    0.0    0.0    0.0    0.0    0.0
 max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0
 min_damping   0.0    0.0    0.0    0.0    0.0    0.0
 max_damping   100.0  100.0  100.0  100.0  100.0  100.0
 
+[TRAJECTORY_GENERATION]
+trajectory_type minimum_jerk
+
 #PIDs:
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
 [POSITION_CONTROL]

diff --git a/iCub/conf_icub3/gazebo_icub_rgb_camera.ini b/iCub/conf_icub3/gazebo_icub_rgb_camera.ini
@@ -1,7 +1,4 @@
-[include "gazebo_icub_robotname.ini"]
-
-device grabberDual
-subdevice gazebo_camera
-name /${gazeboYarpPluginsRobotName}/depthCamera_rgb/camera:o
+disableImplicitNetworkWrapper
+yarpDeviceName icub_rgb_camera
 framerate 30
 stamp 1
diff --git a/iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini b/iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini
@@ -1,30 +1,6 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName right_arm_hardware_device
 
-[WRAPPER]
-# name of the wrapper device to be instatiated by the factory
-device controlboardwrapper2
-# rate of output streaming from ports in ms
-period 10
-# output port name (a leading '/' will be added by code)
-name /${gazeboYarpPluginsRobotName}/right_arm
-# Total number of joints
-joints 7
-# list of MotorControl device to use
-networks ( right_arm_no_hand )
-# for each network specify the joint map
-right_arm_no_hand 0 6 0 6
-
-# Verbose output (on if present, off if commented out)
-#verbose
-
-[TRAJECTORY_GENERATION]
-trajectory_type minimum_jerk
-
-# Specify configuration of MotorControl devices
-[right_arm_no_hand]
-# name of the device to be instatiated by the factory
-device gazebo_controlboard
-#jointNames list
 jointNames r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw
 name right_arm_no_hand
 
@@ -33,6 +9,9 @@ max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0
 min_damping   0.0    0.0    0.0    0.0    0.0    0.0    0.0
 max_damping   100.0  100.0  100.0  100.0  100.0  100.0  100.0
 
+[TRAJECTORY_GENERATION]
+trajectory_type minimum_jerk
+
 #PIDs:
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
 [POSITION_CONTROL]

diff --git a/iCub/conf_icub3/gazebo_icub_right_leg.ini b/iCub/conf_icub3/gazebo_icub_right_leg.ini
@@ -1,37 +1,16 @@
-[include "gazebo_icub_robotname.ini"]
+disableImplicitNetworkWrapper
+yarpDeviceName right_leg_hardware_device
 
-[WRAPPER]
-# name of the wrapper device to be instatiated by the factory
-device controlboardwrapper2
-# rate of output streaming from ports in ms
-period 10
-# output port name (a leading '/' will be added by code)
-name /${gazeboYarpPluginsRobotName}/right_leg
-# Total number of joints
-joints 6
-# list of MotorControl device to use
-networks ( right_leg )
-# for each network specify the joint map
-right_leg 0 5 0 5
-# Verbose output (on if present, off if commented out)
-#verbose
-
-[TRAJECTORY_GENERATION]
-trajectory_type minimum_jerk
-
-# Specify configuration of MotorControl devices
-[right_leg]
-# name of the device to be instatiated by the factory
-device gazebo_controlboard
-#jointNames list
 jointNames r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll
-name right_leg
 
 min_stiffness 0.0    0.0    0.0    0.0    0.0    0.0
 max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0
 min_damping   0.0    0.0    0.0    0.0    0.0    0.0
 max_damping   100.0  100.0  100.0  100.0  100.0  100.0
 
+[TRAJECTORY_GENERATION]
+trajectory_type minimum_jerk
+
 #PIDs:
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
 [POSITION_CONTROL]

diff --git a/iCub/conf_icub3/gazebo_icub_torso.ini b/iCub/conf_icub3/gazebo_icub_torso.ini
@@ -1,37 +1,16 @@
-[include "gazebo_icub_robotname.ini"]
-
-[WRAPPER]
-# name of the wrapper device to be instatiated by the factory
-device controlboardwrapper2
-# rate of output streaming from ports in ms
-period 10
-# output port name (a leading '/' will be added by code)
-name /${gazeboYarpPluginsRobotName}/torso
-# Total number of joints
-joints 3
-# list of MotorControl device to use
-networks ( torso )
-# for each network specify the joint map
-torso 0 2 0 2
-# Verbose output (on if present, off if commented out)
-#verbose
-
-[TRAJECTORY_GENERATION]
-trajectory_type minimum_jerk
-
-# Specify configuration of MotorControl devices
-[torso]
-# name of the device to be instatiated by the factory
-device gazebo_controlboard
-#jointNames list
+disableImplicitNetworkWrapper
+yarpDeviceName torso_hardware_device
 jointNames torso_yaw torso_pitch torso_roll
-name torso
 
 min_stiffness 0.0    0.0    0.0
 max_stiffness 1000.0 1000.0 1000.0
 min_damping   0.0    0.0    0.0
 max_damping   100.0  100.0  100.0
 
+
+[TRAJECTORY_GENERATION]
+trajectory_type minimum_jerk
+
 #PIDs:
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
 [POSITION_CONTROL]