From caf7105bdfd1d98f636c897a99854421a4f8c3c2 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Wed, 18 Sep 2024 14:51:01 +0200
Subject: [PATCH 1/3] iCubGazeboV2_5_visuomanip: migrate hand encoder arrays
 (i.e. MAIS) sensors to use multipleanalogsensorsserver and
 gazebo_yarp_robotinterface

---
 .../gazebo_icub_left_hand_mais.ini                | 10 +++-------
 .../gazebo_icub_right_hand_mais.ini               | 10 +++-------
 .../iCubGazeboV2_5_visuomanip/icub.xml            | 10 +++++++++-
 .../iCubGazeboV2_5_visuomanip/icub_ros2.xml       |  9 ++++++++-
 .../wrappers/MAIS/left_arm-mais_wrapper.xml       | 15 +++++++++++++++
 .../wrappers/MAIS/right_arm-mais_wrapper.xml      | 15 +++++++++++++++
 6 files changed, 53 insertions(+), 16 deletions(-)
 create mode 100644 iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/left_arm-mais_wrapper.xml
 create mode 100644 iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/right_arm-mais_wrapper.xml

diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_mais.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_mais.ini
index e5157a0..1478ea0 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_mais.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_mais.ini
@@ -1,8 +1,4 @@
-[WRAPPER]
-name /icubSim/left_hand/analog:o
-period 10
-networks (left_mais)
-device analogServer
-
-[left_mais]
+disableImplicitNetworkWrapper
+yarpDeviceName icub_left_hand_mais_hardware_device
+sensorName l_hand_mais
 jointNames l_hand_thumb_1_joint l_hand_thumb_2_joint l_hand_thumb_3_joint l_hand_index_1_joint l_hand_index_2_joint l_hand_index_3_joint l_hand_middle_1_joint l_hand_middle_2_joint l_hand_middle_3_joint l_hand_ring_1_joint l_hand_ring_2_joint l_hand_ring_3_joint l_hand_little_1_joint l_hand_little_2_joint l_hand_little_3_joint
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_mais.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_mais.ini
index fe5bae0..d6321d6 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_mais.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_mais.ini
@@ -1,8 +1,4 @@
-[WRAPPER]
-name /icubSim/right_hand/analog:o
-period 10
-networks (right_mais)
-device analogServer
-
-[right_mais]
+disableImplicitNetworkWrapper
+yarpDeviceName icub_right_hand_mais_hardware_device
+sensorName r_hand_mais
 jointNames r_hand_thumb_1_joint r_hand_thumb_2_joint r_hand_thumb_3_joint r_hand_index_1_joint r_hand_index_2_joint r_hand_index_3_joint r_hand_middle_1_joint r_hand_middle_2_joint r_hand_middle_3_joint r_hand_ring_1_joint r_hand_ring_2_joint r_hand_ring_3_joint r_hand_little_1_joint r_hand_little_2_joint r_hand_little_3_joint
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/icub.xml b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/icub.xml
index 13d29d5..e62f576 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/icub.xml
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/icub.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
-<robot name="iCubGazeboV3" build="1" portprefix="/icubSim" xmlns:xi="http://www.w3.org/2001/XInclude">
+<robot name="iCubGazeboV2_5" build="1" portprefix="/icubSim" xmlns:xi="http://www.w3.org/2001/XInclude">
     <devices>
 
     <!-- MOTOR CONTROLLERS -->
@@ -35,5 +35,13 @@
 
     <!-- -->
 
+    <!-- MAIS (i.e. ENCODER ARRAY) SENSORS -->
+
+        <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
+        <xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
+
+    <!-- -->
+
+
     </devices>
 </robot>
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/icub_ros2.xml b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/icub_ros2.xml
index 6c06d0b..ca530ee 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/icub_ros2.xml
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/icub_ros2.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
-<robot name="iCubGazeboV3" build="1" portprefix="/icubSim" xmlns:xi="http://www.w3.org/2001/XInclude">
+<robot name="iCubGazeboV2_5" build="1" portprefix="/icubSim" xmlns:xi="http://www.w3.org/2001/XInclude">
     <devices>
 
     <!-- MOTOR CONTROLLERS -->
@@ -35,6 +35,13 @@
 
     <!-- -->
 
+    <!-- MAIS (i.e. ENCODER ARRAY) SENSORS -->
+
+        <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
+        <xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
+
+    <!-- -->
+
     <!-- ROS 2 entries -->
     <xi:include href="wrappers/motorControl/alljoints-mc_remapper.xml" />
     <xi:include href="wrappers/motorControl/alljoints-mc_nws_ros2.xml" />
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/left_arm-mais_wrapper.xml b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/left_arm-mais_wrapper.xml
new file mode 100644
index 0000000..db94cee
--- /dev/null
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/left_arm-mais_wrapper.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mais_wrapper" type="multipleanalogsensorsserver">
+    <param name="period">       10                         </param>
+    <param name="name">       /icub/left_hand/MAIS      </param>
+        
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="leftMais"> icub_left_hand_mais_hardware_device </elem>
+        </paramlist>
+    </action>
+
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/right_arm-mais_wrapper.xml b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/right_arm-mais_wrapper.xml
new file mode 100644
index 0000000..d862fff
--- /dev/null
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/right_arm-mais_wrapper.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mais_wrapper" type="multipleanalogsensorsserver">
+    <param name="period">       10                         </param>
+    <param name="name">       /icub/right_hand/MAIS      </param>
+        
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="rightMais"> icub_right_hand_mais_hardware_device </elem>
+        </paramlist>
+    </action>
+
+    <action phase="shutdown" level="20" type="detach" />
+</device>

From a33dd641ce8f3b14f54d225da99e513973907d12 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Wed, 18 Sep 2024 17:22:56 +0200
Subject: [PATCH 2/3] Fix port prefix in MAIS port names

As suggested in https://github.com/robotology/icub-models/issues/234#issuecomment-2358651309 .
---
 .../wrappers/MAIS/left_arm-mais_wrapper.xml                    | 3 ++-
 .../wrappers/MAIS/right_arm-mais_wrapper.xml                   | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/left_arm-mais_wrapper.xml b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/left_arm-mais_wrapper.xml
index db94cee..f3a9764 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/left_arm-mais_wrapper.xml
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/left_arm-mais_wrapper.xml
@@ -3,7 +3,8 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mais_wrapper" type="multipleanalogsensorsserver">
     <param name="period">       10                         </param>
-    <param name="name">       /icub/left_hand/MAIS      </param>
+    <param name="name">       /icubSim/left_hand/MAIS      </param>
+
         
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/right_arm-mais_wrapper.xml b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/right_arm-mais_wrapper.xml
index d862fff..ff706dd 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/right_arm-mais_wrapper.xml
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/MAIS/right_arm-mais_wrapper.xml
@@ -3,7 +3,8 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mais_wrapper" type="multipleanalogsensorsserver">
     <param name="period">       10                         </param>
-    <param name="name">       /icub/right_hand/MAIS      </param>
+    <param name="name">       /icubSim/right_hand/MAIS      </param>
+
         
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">

From 4798b65f6af97dee506e45c60c75171bf7c25a3f Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Thu, 19 Sep 2024 09:32:26 +0200
Subject: [PATCH 3/3] Bump version to 2.8.0

---
 CMakeLists.txt          | 2 +-
 iCub_manual/package.xml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ff17c91..65e9e5a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,7 +5,7 @@
 cmake_minimum_required(VERSION 3.8...3.16)
 
 project(icub-models
-  VERSION 2.7.0)
+  VERSION 2.8.0)
 
 include(GNUInstallDirs)
 
diff --git a/iCub_manual/package.xml b/iCub_manual/package.xml
index 11c326f..3f7b013 100644
--- a/iCub_manual/package.xml
+++ b/iCub_manual/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>iCub</name>
-  <version>2.7.0</version>
+  <version>2.8.0</version>
   <description>
     This is not an actual package, but rather a placeholder to 
     make sure that the share/iCub directory is found as the