diff --git a/iCub/conf/FT/gazebo_icub_left_arm_ft.ini b/iCub/conf/FT/gazebo_icub_left_arm_ft.ini
index bb63101..1f6d6ec 100644
--- 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
\ No newline at end of file
diff --git a/iCub/conf/FT/gazebo_icub_left_foot_ft.ini b/iCub/conf/FT/gazebo_icub_left_foot_ft.ini
index 073d7be..ce08cae 100644
--- 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
\ No newline at end of file
diff --git a/iCub/conf/FT/gazebo_icub_left_leg_ft.ini b/iCub/conf/FT/gazebo_icub_left_leg_ft.ini
index 71e85df..83bb895 100644
--- 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
\ No newline at end of file
diff --git a/iCub/conf/FT/gazebo_icub_right_arm_ft.ini b/iCub/conf/FT/gazebo_icub_right_arm_ft.ini
index c411f9e..a3618db 100644
--- 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
\ No newline at end of file
diff --git a/iCub/conf/FT/gazebo_icub_right_foot_ft.ini b/iCub/conf/FT/gazebo_icub_right_foot_ft.ini
index 60b2976..f8ff773 100644
--- 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
\ No newline at end of file
diff --git a/iCub/conf/FT/gazebo_icub_right_leg_ft.ini b/iCub/conf/FT/gazebo_icub_right_leg_ft.ini
index 9f10c91..3c89aa0 100644
--- 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
index 5202ca3..0e60e7b 100644
--- 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
index b2db6e3..10867f5 100644
--- 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
\ No newline at end of file
+yarpDeviceName left_arm_inertial_hardware_device
+parentLinkName l_shoulder_3
+sensorName l_arm_ft_imu
\ No newline at end of file
diff --git a/iCub/conf/gazebo_icub_right_arm_inertial.ini b/iCub/conf/gazebo_icub_right_arm_inertial.ini
index b676f9c..1d9ce75 100644
--- 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
\ No newline at end of file
+yarpDeviceName right_arm_inertial_hardware_device
+parentLinkName r_shoulder_3
+sensorName r_arm_ft_imu
\ No newline at end of file
diff --git a/iCub/conf/gazebo_icub_xsens_inertial.ini b/iCub/conf/gazebo_icub_xsens_inertial.ini
index b164f02..84b5c24 100644
--- 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
\ No newline at end of file
diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf
index 59a373d..9492d13 100644
--- 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
index 667753b..44bcf71 100644
--- 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
index 4420e85..aeabf97 100644
--- 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">
diff --git a/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf b/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
index 84da6da..7c0ad46 100644
--- a/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
@@ -2060,6 +2060,73 @@
   <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">
@@ -2201,6 +2268,17 @@
   <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_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf
index 72c1106..0e226e0 100644
--- a/iCub/robots/iCubGazeboV2_6/model.urdf
+++ b/iCub/robots/iCubGazeboV2_6/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_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf
index 759dad3..e9b8365 100644
--- a/iCub/robots/iCubGazeboV2_7/model.urdf
+++ b/iCub/robots/iCubGazeboV2_7/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>
   <link name="root_link_imu_frame"/>
   <joint name="root_link_imu_frame_fixed_joint" type="fixed">
@@ -2582,6 +2660,11 @@
     </plugin>
    </sensor>
  </gazebo>
+  <gazebo>
+<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_xsens_inertial.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
   <gazebo reference="l_leg_ft_sensor">
     <sensor name="l_leg_ft" type="force_torque">
       <always_on>1</always_on>
diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf
index 59a373d..9492d13 100644
--- a/iCub/robots/iCubGenova01/model.urdf
+++ b/iCub/robots/iCubGenova01/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/iCubGenova02/model.urdf b/iCub/robots/iCubGenova02/model.urdf
index d65d5c5..79ba8fa 100644
--- a/iCub/robots/iCubGenova02/model.urdf
+++ b/iCub/robots/iCubGenova02/model.urdf
@@ -2060,6 +2060,73 @@
   <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">
@@ -2201,6 +2268,17 @@
   <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/iCubGenova04/model.urdf b/iCub/robots/iCubGenova04/model.urdf
index 667753b..44bcf71 100644
--- a/iCub/robots/iCubGenova04/model.urdf
+++ b/iCub/robots/iCubGenova04/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/iCubGenova11/model.urdf b/iCub/robots/iCubGenova11/model.urdf
index c29eb7e..8a51ebf 100644
--- a/iCub/robots/iCubGenova11/model.urdf
+++ b/iCub/robots/iCubGenova11/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>
   <link name="root_link_imu_frame"/>
   <joint name="root_link_imu_frame_fixed_joint" type="fixed">
@@ -2582,6 +2660,11 @@
     </plugin>
    </sensor>
  </gazebo>
+  <gazebo>
+<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_xsens_inertial.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
   <gazebo reference="l_leg_ft_sensor">
     <sensor name="l_leg_ft" type="force_torque">
       <always_on>1</always_on>
diff --git a/iCub/robots/iCubWaterloo01/model.urdf b/iCub/robots/iCubWaterloo01/model.urdf
index c29eb7e..8a51ebf 100644
--- a/iCub/robots/iCubWaterloo01/model.urdf
+++ b/iCub/robots/iCubWaterloo01/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>
   <link name="root_link_imu_frame"/>
   <joint name="root_link_imu_frame_fixed_joint" type="fixed">
@@ -2582,6 +2660,11 @@
     </plugin>
    </sensor>
  </gazebo>
+  <gazebo>
+<plugin name="gzyarp::Imu" filename="gz-sim-yarp-imu-system">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_xsens_inertial.ini</yarpConfigurationFile>
+</plugin>
+</gazebo>
   <gazebo reference="l_leg_ft_sensor">
     <sensor name="l_leg_ft" type="force_torque">
       <always_on>1</always_on>