Automatic build of models via icub-models-generator. (#246)

icub-models-generator commit: robotology/icub-models-generator@87d1222 ### Dependencies information of dependencies installed manually: urdf_parser_py commit: ros/urdf_parser_py@31474b9 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@143fd8f ### Dependencies information via pixi list: Package Version Build Size Kind Source _libgcc_mutex 0.1 conda_forge 2.5 KiB conda _libgcc_mutex-0.1-conda_forge.tar.bz2 _openmp_mutex 4.5 2_gnu 23.1 KiB conda _openmp_mutex-4.5-2_gnu.tar.bz2 ace 7.1.3 h59595ed_2 5.2 MiB conda ace-7.1.3-h59595ed_2.conda alsa-lib 1.2.11 hd590300_1 541.7 KiB conda alsa-lib-1.2.11-hd590300_1.conda ampl-mp 3.1.0 h2cc385e_1006 1.1 MiB conda ampl-mp-3.1.0-h2cc385e_1006.tar.bz2 aom 3.8.2 h59595ed_0 2.6 MiB conda aom-3.8.2-h59595ed_0.conda assimp 5.4.1 h8343317_0 3.3 MiB conda assimp-5.4.1-h8343317_0.conda attr 2.5.1 h166bdaf_1 69.4 KiB conda attr-2.5.1-h166bdaf_1.tar.bz2 binutils 2.40 hdd6e379_0 29.8 KiB conda binutils-2.40-hdd6e379_0.conda binutils_impl_linux-64 2.40 hf600244_0 5.2 MiB conda binutils_impl_linux-64-2.40-hf600244_0.conda binutils_linux-64 2.40 hdade7a5_3 28.2 KiB conda binutils_linux-64-2.40-hdade7a5_3.conda bzip2 1.0.8 hd590300_5 248.3 KiB conda bzip2-1.0.8-hd590300_5.conda c-ares 1.28.1 hd590300_0 164.9 KiB conda c-ares-1.28.1-hd590300_0.conda c-compiler 1.7.0 hd590300_0 6.1 KiB conda c-compiler-1.7.0-hd590300_0.conda ca-certificates 2024.2.2 hbcca054_0 151.8 KiB conda ca-certificates-2024.2.2-hbcca054_0.conda cairo 1.18.0 h3faef2a_0 959.3 KiB conda cairo-1.18.0-h3faef2a_0.conda catkin_pkg 1.0.0 pyhd8ed1ab_0 52.2 KiB conda catkin_pkg-1.0.0-pyhd8ed1ab_0.conda cmake 3.29.2 hcfe8598_0 18.1 MiB conda cmake-3.29.2-hcfe8598_0.conda cxx-compiler 1.7.0 h00ab1b0_0 6.1 KiB conda cxx-compiler-1.7.0-h00ab1b0_0.conda dav1d 1.2.1 hd590300_0 742.4 KiB conda dav1d-1.2.1-hd590300_0.conda dbus 1.13.6 h5008d03_3 604.1 KiB conda dbus-1.13.6-h5008d03_3.tar.bz2 docutils 0.20.1 py311h38be061_3 896.8 KiB conda docutils-0.20.1-py311h38be061_3.conda double-conversion 3.3.0 h59595ed_0 76.8 KiB conda double-conversion-3.3.0-h59595ed_0.conda eigen 3.4.0 h00ab1b0_0 1 MiB conda eigen-3.4.0-h00ab1b0_0.conda expat 2.6.2 h59595ed_0 134.4 KiB conda expat-2.6.2-h59595ed_0.conda ffmpeg 6.1.1 gpl_h38e077a_106 9.3 MiB conda ffmpeg-6.1.1-gpl_h38e077a_106.conda font-ttf-dejavu-sans-mono 2.37 hab24e00_0 388.1 KiB conda font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2 font-ttf-inconsolata 3.000 h77eed37_0 94.3 KiB conda font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2 font-ttf-source-code-pro 2.038 h77eed37_0 684.4 KiB conda font-ttf-source-code-pro-2.038-h77eed37_0.tar.bz2 font-ttf-ubuntu 0.83 h77eed37_1 1.5 MiB conda font-ttf-ubuntu-0.83-h77eed37_1.conda fontconfig 2.14.2 h14ed4e7_0 265.6 KiB conda fontconfig-2.14.2-h14ed4e7_0.conda fonts-conda-ecosystem 1 0 3.6 KiB conda fonts-conda-ecosystem-1-0.tar.bz2 fonts-conda-forge 1 0 4 KiB conda fonts-conda-forge-1-0.tar.bz2 freeglut 3.2.2 hac7e632_2 139.6 KiB conda freeglut-3.2.2-hac7e632_2.conda freetype 2.12.1 h267a509_2 620.1 KiB conda freetype-2.12.1-h267a509_2.conda fribidi 1.0.10 h36c2ea0_0 111.7 KiB conda fribidi-1.0.10-h36c2ea0_0.tar.bz2 gcc 12.3.0 h95e488c_3 27.1 KiB conda gcc-12.3.0-h95e488c_3.conda gcc_impl_linux-64 12.3.0 he2b93b0_5 49.5 MiB conda gcc_impl_linux-64-12.3.0-he2b93b0_5.conda gcc_linux-64 12.3.0 h6477408_3 30.3 KiB conda gcc_linux-64-12.3.0-h6477408_3.conda gdbm 1.18 h0a1914f_2 190.2 KiB conda gdbm-1.18-h0a1914f_2.tar.bz2 gettext 0.21.1 h27087fc_0 4.1 MiB conda gettext-0.21.1-h27087fc_0.tar.bz2 glfw 3.4 hd590300_0 163.5 KiB conda glfw-3.4-hd590300_0.conda glib 2.80.0 hf2295e7_1 492 KiB conda glib-2.80.0-hf2295e7_1.conda glib-tools 2.80.0 hde27a5a_1 110.2 KiB conda glib-tools-2.80.0-hde27a5a_1.conda gmp 6.3.0 h59595ed_1 556.5 KiB conda gmp-6.3.0-h59595ed_1.conda gnutls 3.7.9 hb077bed_0 1.9 MiB conda gnutls-3.7.9-hb077bed_0.conda graphite2 1.3.13 h59595ed_1003 94.6 KiB conda graphite2-1.3.13-h59595ed_1003.conda gst-plugins-base 1.22.9 hfa15dee_1 2.6 MiB 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conda kernel-headers_linux-64-2.6.32-he073ed8_17.conda keyutils 1.6.1 h166bdaf_0 115.1 KiB conda keyutils-1.6.1-h166bdaf_0.tar.bz2 krb5 1.21.2 h659d440_0 1.3 MiB conda krb5-1.21.2-h659d440_0.conda lame 3.100 h166bdaf_1003 496.3 KiB conda lame-3.100-h166bdaf_1003.tar.bz2 ld_impl_linux-64 2.40 h41732ed_0 688.2 KiB conda ld_impl_linux-64-2.40-h41732ed_0.conda lerc 4.0.0 h27087fc_0 275.2 KiB conda lerc-4.0.0-h27087fc_0.tar.bz2 libabseil 20240116.1 cxx17_h59595ed_2 1.2 MiB conda libabseil-20240116.1-cxx17_h59595ed_2.conda libaec 1.1.3 h59595ed_0 34.6 KiB conda libaec-1.1.3-h59595ed_0.conda libass 0.17.1 h8fe9dca_1 123.9 KiB conda libass-0.17.1-h8fe9dca_1.conda libblas 3.9.0 21_linux64_openblas 14.3 KiB conda libblas-3.9.0-21_linux64_openblas.conda libboost 1.84.0 h8013b2b_2 2.7 MiB conda libboost-1.84.0-h8013b2b_2.conda libcap 2.69 h0f662aa_0 98.2 KiB conda libcap-2.69-h0f662aa_0.conda libcblas 3.9.0 21_linux64_openblas 14.3 KiB conda libcblas-3.9.0-21_linux64_openblas.conda libclang-cpp15 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libflac-1.4.3-h59595ed_0.conda libgcc-devel_linux-64 12.3.0 h8bca6fd_105 2.4 MiB conda libgcc-devel_linux-64-12.3.0-h8bca6fd_105.conda libgcc-ng 13.2.0 h807b86a_5 752.4 KiB conda libgcc-ng-13.2.0-h807b86a_5.conda libgcrypt 1.10.3 hd590300_0 620 KiB conda libgcrypt-1.10.3-hd590300_0.conda libgfortran-ng 13.2.0 h69a702a_5 23.3 KiB conda libgfortran-ng-13.2.0-h69a702a_5.conda libgfortran5 13.2.0 ha4646dd_5 1.4 MiB conda libgfortran5-13.2.0-ha4646dd_5.conda libglib 2.80.0 hf2295e7_1 2.8 MiB conda libglib-2.80.0-hf2295e7_1.conda libglu 9.0.0 hac7e632_1003 323.5 KiB conda libglu-9.0.0-hac7e632_1003.conda libgomp 13.2.0 h807b86a_5 409.9 KiB conda libgomp-13.2.0-h807b86a_5.conda libgpg-error 1.48 h71f35ed_0 260.2 KiB conda libgpg-error-1.48-h71f35ed_0.conda libhwloc 2.10.0 default_h5622ce7_1001 2.3 MiB conda libhwloc-2.10.0-default_h5622ce7_1001.conda libi2c 4.3 hcb278e6_2 18.2 KiB conda libi2c-4.3-hcb278e6_2.conda libiconv 1.17 hd590300_2 689.2 KiB conda libiconv-1.17-hd590300_2.conda libidn2 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libopenvino-pytorch-frontend-2024.0.0-h59595ed_4.conda libopenvino-tensorflow-frontend 2024.0.0 hca94c1a_4 1.2 MiB conda libopenvino-tensorflow-frontend-2024.0.0-hca94c1a_4.conda libopenvino-tensorflow-lite-frontend 2024.0.0 h59595ed_4 466.2 KiB conda libopenvino-tensorflow-lite-frontend-2024.0.0-h59595ed_4.conda libopus 1.3.1 h7f98852_1 254.5 KiB conda libopus-1.3.1-h7f98852_1.tar.bz2 libosqp 0.6.3 h59595ed_0 70.4 KiB conda libosqp-0.6.3-h59595ed_0.conda libpciaccess 0.18 hd590300_0 27.7 KiB conda libpciaccess-0.18-hd590300_0.conda libpng 1.6.43 h2797004_0 281.5 KiB conda libpng-1.6.43-h2797004_0.conda libpq 16.2 h33b98f1_1 2.5 MiB conda libpq-16.2-h33b98f1_1.conda libprotobuf 4.25.3 h08a7969_0 2.7 MiB conda libprotobuf-4.25.3-h08a7969_0.conda libqdldl 0.1.5 h27087fc_1 16.5 KiB conda libqdldl-0.1.5-h27087fc_1.tar.bz2 libsanitizer 12.3.0 h0f45ef3_5 3.7 MiB conda libsanitizer-12.3.0-h0f45ef3_5.conda libscotch 7.0.4 h91e35bf_1 331.7 KiB conda libscotch-7.0.4-h91e35bf_1.conda libsndfile 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robotology · Dec 2, 2024 · 5fe7e0e · 5fe7e0e
1 parent 7084528
commit 5fe7e0e
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Showing 21 changed files with 896 additions and 3 deletions.
diff --git a/iCub/conf/FT/gazebo_icub_left_arm_ft.ini b/iCub/conf/FT/gazebo_icub_left_arm_ft.ini
@@ -1,2 +1,4 @@
 disableImplicitNetworkWrapper
 yarpDeviceName icub_left_arm_ft
+jointName l_arm_ft_sensor
+sensorName l_arm_ft
diff --git a/iCub/conf/FT/gazebo_icub_left_foot_ft.ini b/iCub/conf/FT/gazebo_icub_left_foot_ft.ini
@@ -1,2 +1,4 @@
 disableImplicitNetworkWrapper
 yarpDeviceName icub_left_foot_ft
+jointName l_foot_ft_sensor
+sensorName l_foot_ft
diff --git a/iCub/conf/FT/gazebo_icub_left_leg_ft.ini b/iCub/conf/FT/gazebo_icub_left_leg_ft.ini
@@ -1,2 +1,4 @@
 disableImplicitNetworkWrapper
 yarpDeviceName icub_left_leg_ft
+jointName l_leg_ft_sensor
+sensorName l_leg_ft
diff --git a/iCub/conf/FT/gazebo_icub_right_arm_ft.ini b/iCub/conf/FT/gazebo_icub_right_arm_ft.ini
@@ -1,2 +1,4 @@
 disableImplicitNetworkWrapper
 yarpDeviceName icub_right_arm_ft
+jointName r_arm_ft_sensor
+sensorName r_arm_ft
diff --git a/iCub/conf/FT/gazebo_icub_right_foot_ft.ini b/iCub/conf/FT/gazebo_icub_right_foot_ft.ini
@@ -1,2 +1,4 @@
 disableImplicitNetworkWrapper
 yarpDeviceName icub_right_foot_ft
+jointName r_foot_ft_sensor
+sensorName r_foot_ft
diff --git a/iCub/conf/FT/gazebo_icub_right_leg_ft.ini b/iCub/conf/FT/gazebo_icub_right_leg_ft.ini
@@ -1,3 +1,4 @@
 disableImplicitNetworkWrapper
 yarpDeviceName icub_right_leg_ft
-
+jointName r_leg_ft_sensor
+sensorName r_leg_ft
diff --git a/iCub/conf/gazebo_icub_inertial.ini b/iCub/conf/gazebo_icub_inertial.ini
@@ -1,2 +1,4 @@
 disableImplicitNetworkWrapper
 yarpDeviceName head_inertial_hardware_device
+parentLinkName head
+sensorName head_imu_0
diff --git a/iCub/conf/gazebo_icub_left_arm_inertial.ini b/iCub/conf/gazebo_icub_left_arm_inertial.ini
@@ -1,2 +1,4 @@
 disableImplicitNetworkWrapper
-yarpDeviceName left_arm_inertial_hardware_device
+yarpDeviceName left_arm_inertial_hardware_device
+parentLinkName l_shoulder_3
+sensorName l_arm_ft_imu
diff --git a/iCub/conf/gazebo_icub_right_arm_inertial.ini b/iCub/conf/gazebo_icub_right_arm_inertial.ini
@@ -1,2 +1,4 @@
 disableImplicitNetworkWrapper
-yarpDeviceName right_arm_inertial_hardware_device
+yarpDeviceName right_arm_inertial_hardware_device
+parentLinkName r_shoulder_3
+sensorName r_arm_ft_imu
diff --git a/iCub/conf/gazebo_icub_xsens_inertial.ini b/iCub/conf/gazebo_icub_xsens_inertial.ini
@@ -5,3 +5,6 @@ period 2
 
 device multipleanalogsensorsserver
 subdevice gazebo_imu
+yarpDeviceName waist_inertial_hardware_device
+parentLinkName root_link
+sensorName root_link_imu_acc
diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf
@@ -2424,6 +2424,73 @@
   <mu1>1</mu1>
   <mu2>1</mu2>
   <fdir1>0 0 0</fdir1>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_torso.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_head_without_eyes.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
+  <initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
+</plugin>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
+  <initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
+</plugin>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_leg.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_leg.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
+</plugin>
 </gazebo>
   <gazebo>
 <plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
@@ -2565,6 +2632,17 @@
   <plugin name="robotinterface" filename="libgazebo_yarp_robotinterface.so">
     <yarpRobotInterfaceConfigurationFile>model://iCub/conf/icub.xml</yarpRobotInterfaceConfigurationFile>
   </plugin>
+</gazebo>
+  <gazebo>
+  <plugin name="gzyarp::RobotInterface" filename="gz-sim-yarp-robotinterface-system">
+    <yarpRobotInterfaceConfigurationFile>model://iCub/conf/icub.xml</yarpRobotInterfaceConfigurationFile>
+  </plugin>
+</gazebo>
+  <gazebo>
+  <plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque"/>
+</gazebo>
+  <gazebo>
+  <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
 </gazebo>
   <gazebo reference="l_leg_ft_sensor">
     <sensor name="l_leg_ft" type="force_torque">

diff --git a/iCub/robots/iCubErzelli02/model.urdf b/iCub/robots/iCubErzelli02/model.urdf
@@ -2424,6 +2424,73 @@
   <mu1>1</mu1>
   <mu2>1</mu2>
   <fdir1>0 0 0</fdir1>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_torso.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_head_without_eyes.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
+  <initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
+</plugin>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
+  <initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
+</plugin>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_leg.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_leg.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
+</plugin>
 </gazebo>
   <gazebo>
 <plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
@@ -2565,6 +2632,17 @@
   <plugin name="robotinterface" filename="libgazebo_yarp_robotinterface.so">
     <yarpRobotInterfaceConfigurationFile>model://iCub/conf/icub.xml</yarpRobotInterfaceConfigurationFile>
   </plugin>
+</gazebo>
+  <gazebo>
+  <plugin name="gzyarp::RobotInterface" filename="gz-sim-yarp-robotinterface-system">
+    <yarpRobotInterfaceConfigurationFile>model://iCub/conf/icub.xml</yarpRobotInterfaceConfigurationFile>
+  </plugin>
+</gazebo>
+  <gazebo>
+  <plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque"/>
+</gazebo>
+  <gazebo>
+  <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
 </gazebo>
   <gazebo reference="l_leg_ft_sensor">
     <sensor name="l_leg_ft" type="force_torque">

diff --git a/iCub/robots/iCubGazeboV2_5/model.urdf b/iCub/robots/iCubGazeboV2_5/model.urdf
@@ -2424,6 +2424,73 @@
   <mu1>1</mu1>
   <mu2>1</mu2>
   <fdir1>0 0 0</fdir1>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_torso.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_head_without_eyes.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
+  <initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
+</plugin>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
+  <initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
+</plugin>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_leg.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_leg.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::ForceTorque" filename="gz-sim-yarp-forcetorque-system">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_inertial.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
+  <gazebo>
+<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
+</plugin>
 </gazebo>
   <gazebo>
 <plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
@@ -2565,6 +2632,17 @@
   <plugin name="robotinterface" filename="libgazebo_yarp_robotinterface.so">
     <yarpRobotInterfaceConfigurationFile>model://iCub/conf/icub.xml</yarpRobotInterfaceConfigurationFile>
   </plugin>
+</gazebo>
+  <gazebo>
+  <plugin name="gzyarp::RobotInterface" filename="gz-sim-yarp-robotinterface-system">
+    <yarpRobotInterfaceConfigurationFile>model://iCub/conf/icub.xml</yarpRobotInterfaceConfigurationFile>
+  </plugin>
+</gazebo>
+  <gazebo>
+  <plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque"/>
+</gazebo>
+  <gazebo>
+  <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
 </gazebo>
   <gazebo reference="l_leg_ft_sensor">
     <sensor name="l_leg_ft" type="force_torque">