$ yarpserver --write

     ==========================
    | __  __ ___  ____   ____  |
    | \ \/ //   ||  _ \ |  _ \ |
    |  \  // /| || |/ / | |/ / |
    |  / // ___ ||  _ \ |  _/  |
    | /_//_/  |_||_| \_\|_|    |
    |                          |
     ==========================

Call with --help for information on available options
Using port database: :memory:
Using subscription database: :memory:
IP address: default
Port number: 10000
[INFO] |yarp.os.Port| Port /icub09 active at tcp://10.255.111.45:10000/
Registering name server with itself
 * register "/icub09" tcp "10.255.111.45" 10000
   + set "/icub09" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icub09" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icub09" ips "127.0.0.1" "10.255.111.45"
   + set "/icub09" process 1934
 * register fallback mcast "224.2.1.1" 10000
   + set fallback offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set fallback accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set fallback ips "127.0.0.1" "10.255.111.45"
   + set fallback process 1934
 * set "/icub09" nameserver "true"
Name server can be browsed at http://10.255.111.45:10000/
Ok. Ready!
 * register "/clock"
   + set "/clock" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/clock" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/clock" ips "127.0.0.1" "10.255.111.45"
   + set "/clock" process 2082
-> announce "/clock"
 * register "/clock/rpc"
   + set "/clock/rpc" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/clock/rpc" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/clock/rpc" ips "127.0.0.1" "10.255.111.45"
   + set "/clock/rpc" process 2082
-> announce "/clock/rpc"
 * register "/icubSim/inertial"
   + set "/icubSim/inertial" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/inertial" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/inertial" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/inertial" process 2082
-> announce "/icubSim/inertial"
 * register "/icubSim/head/inertials/measures:o"
   + set "/icubSim/head/inertials/measures:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/head/inertials/measures:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/head/inertials/measures:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/head/inertials/measures:o" process 2082
-> announce "/icubSim/head/inertials/measures:o"
 * register "/icubSim/head/inertials/rpc:o"
   + set "/icubSim/head/inertials/rpc:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/head/inertials/rpc:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/head/inertials/rpc:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/head/inertials/rpc:o" process 2082
-> announce "/icubSim/head/inertials/rpc:o"
 * query "/icubSim/left_leg/analog:o/rpc:i"
 * query "/icubSim/left_leg/analog:o"
 * register "/icubSim/left_leg/analog:o/rpc:i"
   + set "/icubSim/left_leg/analog:o/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/analog:o/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/analog:o/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_leg/analog:o/rpc:i" process 2082
-> announce "/icubSim/left_leg/analog:o/rpc:i"
 * query "/icubSim/left_leg/analog:o/rpc:i"
 * query "/icubSim/left_leg/analog:o/rpc:i"
 * register "/icubSim/left_leg/analog:o" "..." "..." -1 "yarp/vector"
   + set "/icubSim/left_leg/analog:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/analog:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/analog:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_leg/analog:o" process 2082
-> announce "/icubSim/left_leg/analog:o"
 * query "/icubSim/left_foot/analog:o/rpc:i"
 * query "/icubSim/left_foot/analog:o"
 * register "/icubSim/left_foot/analog:o/rpc:i"
   + set "/icubSim/left_foot/analog:o/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_foot/analog:o/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_foot/analog:o/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_foot/analog:o/rpc:i" process 2082
-> announce "/icubSim/left_foot/analog:o/rpc:i"
 * query "/icubSim/left_foot/analog:o/rpc:i"
 * query "/icubSim/left_foot/analog:o/rpc:i"
 * register "/icubSim/left_foot/analog:o" "..." "..." -1 "yarp/vector"
   + set "/icubSim/left_foot/analog:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_foot/analog:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_foot/analog:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_foot/analog:o" process 2082
-> announce "/icubSim/left_foot/analog:o"
 * query "/icubSim/right_leg/analog:o/rpc:i"
 * query "/icubSim/right_leg/analog:o"
 * register "/icubSim/right_leg/analog:o/rpc:i"
   + set "/icubSim/right_leg/analog:o/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/analog:o/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/analog:o/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_leg/analog:o/rpc:i" process 2082
-> announce "/icubSim/right_leg/analog:o/rpc:i"
 * query "/icubSim/right_leg/analog:o/rpc:i"
 * query "/icubSim/right_leg/analog:o/rpc:i"
 * register "/icubSim/right_leg/analog:o" "..." "..." -1 "yarp/vector"
   + set "/icubSim/right_leg/analog:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/analog:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/analog:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_leg/analog:o" process 2082
-> announce "/icubSim/right_leg/analog:o"
 * query "/icubSim/right_foot/analog:o/rpc:i"
 * query "/icubSim/right_foot/analog:o"
 * register "/icubSim/right_foot/analog:o/rpc:i"
   + set "/icubSim/right_foot/analog:o/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_foot/analog:o/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_foot/analog:o/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_foot/analog:o/rpc:i" process 2082
-> announce "/icubSim/right_foot/analog:o/rpc:i"
 * query "/icubSim/right_foot/analog:o/rpc:i"
 * query "/icubSim/right_foot/analog:o/rpc:i"
 * register "/icubSim/right_foot/analog:o" "..." "..." -1 "yarp/vector"
   + set "/icubSim/right_foot/analog:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_foot/analog:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_foot/analog:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_foot/analog:o" process 2082
-> announce "/icubSim/right_foot/analog:o"
 * query "/icubSim/left_arm/analog:o/rpc:i"
 * query "/icubSim/left_arm/analog:o"
 * register "/icubSim/left_arm/analog:o/rpc:i"
   + set "/icubSim/left_arm/analog:o/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_arm/analog:o/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_arm/analog:o/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_arm/analog:o/rpc:i" process 2082
-> announce "/icubSim/left_arm/analog:o/rpc:i"
 * query "/icubSim/left_arm/analog:o/rpc:i"
 * query "/icubSim/left_arm/analog:o/rpc:i"
 * register "/icubSim/left_arm/analog:o" "..." "..." -1 "yarp/vector"
   + set "/icubSim/left_arm/analog:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_arm/analog:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_arm/analog:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_arm/analog:o" process 2082
-> announce "/icubSim/left_arm/analog:o"
 * query "/icubSim/right_arm/analog:o/rpc:i"
 * query "/icubSim/right_arm/analog:o"
 * register "/icubSim/right_arm/analog:o/rpc:i"
   + set "/icubSim/right_arm/analog:o/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_arm/analog:o/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_arm/analog:o/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_arm/analog:o/rpc:i" process 2082
-> announce "/icubSim/right_arm/analog:o/rpc:i"
 * query "/icubSim/right_arm/analog:o/rpc:i"
 * query "/icubSim/right_arm/analog:o/rpc:i"
 * register "/icubSim/right_arm/analog:o" "..." "..." -1 "yarp/vector"
   + set "/icubSim/right_arm/analog:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_arm/analog:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_arm/analog:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_arm/analog:o" process 2082
-> announce "/icubSim/right_arm/analog:o"
 * query "/icubSim/left_leg/inertialMTB/rpc:i"
 * query "/icubSim/left_leg/inertialMTB"
 * register "/icubSim/left_leg/inertialMTB/rpc:i"
   + set "/icubSim/left_leg/inertialMTB/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/inertialMTB/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/inertialMTB/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_leg/inertialMTB/rpc:i" process 2082
-> announce "/icubSim/left_leg/inertialMTB/rpc:i"
 * query "/icubSim/left_leg/inertialMTB/rpc:i"
 * query "/icubSim/left_leg/inertialMTB/rpc:i"
 * register "/icubSim/left_leg/inertialMTB" "..." "..." -1 "yarp/vector"
   + set "/icubSim/left_leg/inertialMTB" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/inertialMTB" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/inertialMTB" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_leg/inertialMTB" process 2082
-> announce "/icubSim/left_leg/inertialMTB"
 * query "/icubSim/right_leg/inertialMTB/rpc:i"
 * query "/icubSim/right_leg/inertialMTB"
 * register "/icubSim/right_leg/inertialMTB/rpc:i"
   + set "/icubSim/right_leg/inertialMTB/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/inertialMTB/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/inertialMTB/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_leg/inertialMTB/rpc:i" process 2082
-> announce "/icubSim/right_leg/inertialMTB/rpc:i"
 * query "/icubSim/right_leg/inertialMTB/rpc:i"
 * query "/icubSim/right_leg/inertialMTB/rpc:i"
 * register "/icubSim/right_leg/inertialMTB" "..." "..." -1 "yarp/vector"
   + set "/icubSim/right_leg/inertialMTB" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/inertialMTB" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/inertialMTB" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_leg/inertialMTB" process 2082
-> announce "/icubSim/right_leg/inertialMTB"
 * query "/icubSim/left_hand/inertialMTB/rpc:i"
 * query "/icubSim/left_hand/inertialMTB"
 * register "/icubSim/left_hand/inertialMTB/rpc:i"
   + set "/icubSim/left_hand/inertialMTB/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_hand/inertialMTB/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_hand/inertialMTB/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_hand/inertialMTB/rpc:i" process 2082
-> announce "/icubSim/left_hand/inertialMTB/rpc:i"
 * query "/icubSim/left_hand/inertialMTB/rpc:i"
 * query "/icubSim/left_hand/inertialMTB/rpc:i"
 * register "/icubSim/left_hand/inertialMTB" "..." "..." -1 "yarp/vector"
   + set "/icubSim/left_hand/inertialMTB" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_hand/inertialMTB" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_hand/inertialMTB" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_hand/inertialMTB" process 2082
-> announce "/icubSim/left_hand/inertialMTB"
 * query "/icubSim/right_hand/inertialMTB/rpc:i"
 * query "/icubSim/right_hand/inertialMTB"
 * register "/icubSim/right_hand/inertialMTB/rpc:i"
   + set "/icubSim/right_hand/inertialMTB/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_hand/inertialMTB/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_hand/inertialMTB/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_hand/inertialMTB/rpc:i" process 2082
-> announce "/icubSim/right_hand/inertialMTB/rpc:i"
 * query "/icubSim/right_hand/inertialMTB/rpc:i"
 * query "/icubSim/right_hand/inertialMTB/rpc:i"
 * register "/icubSim/right_hand/inertialMTB" "..." "..." -1 "yarp/vector"
   + set "/icubSim/right_hand/inertialMTB" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_hand/inertialMTB" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_hand/inertialMTB" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_hand/inertialMTB" process 2082
-> announce "/icubSim/right_hand/inertialMTB"
 * query "/icubSim/torso/inertialMTB/rpc:i"
 * query "/icubSim/torso/inertialMTB"
 * register "/icubSim/torso/inertialMTB/rpc:i"
   + set "/icubSim/torso/inertialMTB/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/torso/inertialMTB/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/torso/inertialMTB/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/torso/inertialMTB/rpc:i" process 2082
-> announce "/icubSim/torso/inertialMTB/rpc:i"
 * query "/icubSim/torso/inertialMTB/rpc:i"
 * query "/icubSim/torso/inertialMTB/rpc:i"
 * register "/icubSim/torso/inertialMTB" "..." "..." -1 "yarp/vector"
   + set "/icubSim/torso/inertialMTB" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/torso/inertialMTB" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/torso/inertialMTB" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/torso/inertialMTB" process 2082
-> announce "/icubSim/torso/inertialMTB"
 * register "/icubSim/torso/rpc:i"
   + set "/icubSim/torso/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/torso/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/torso/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/torso/rpc:i" process 2082
-> announce "/icubSim/torso/rpc:i"
 * register "/icubSim/torso/command:i"
   + set "/icubSim/torso/command:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/torso/command:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/torso/command:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/torso/command:i" process 2082
-> announce "/icubSim/torso/command:i"
 * register "/icubSim/torso/state:o" "..." "..." -1 "yarp/vector"
   + set "/icubSim/torso/state:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/torso/state:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/torso/state:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/torso/state:o" process 2082
-> announce "/icubSim/torso/state:o"
 * register "/icubSim/torso/stateExt:o"
   + set "/icubSim/torso/stateExt:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/torso/stateExt:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/torso/stateExt:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/torso/stateExt:o" process 2082
-> announce "/icubSim/torso/stateExt:o"
 * register "/icubSim/head/rpc:i"
   + set "/icubSim/head/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/head/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/head/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/head/rpc:i" process 2082
-> announce "/icubSim/head/rpc:i"
 * register "/icubSim/head/command:i"
   + set "/icubSim/head/command:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/head/command:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/head/command:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/head/command:i" process 2082
-> announce "/icubSim/head/command:i"
 * register "/icubSim/head/state:o" "..." "..." -1 "yarp/vector"
   + set "/icubSim/head/state:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/head/state:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/head/state:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/head/state:o" process 2082
-> announce "/icubSim/head/state:o"
 * register "/icubSim/head/stateExt:o"
   + set "/icubSim/head/stateExt:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/head/stateExt:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/head/stateExt:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/head/stateExt:o" process 2082
-> announce "/icubSim/head/stateExt:o"
 * register "/icubSim/left_arm/rpc:i"
   + set "/icubSim/left_arm/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_arm/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_arm/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_arm/rpc:i" process 2082
-> announce "/icubSim/left_arm/rpc:i"
 * register "/icubSim/left_arm/command:i"
   + set "/icubSim/left_arm/command:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_arm/command:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_arm/command:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_arm/command:i" process 2082
-> announce "/icubSim/left_arm/command:i"
 * register "/icubSim/left_arm/state:o" "..." "..." -1 "yarp/vector"
   + set "/icubSim/left_arm/state:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_arm/state:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_arm/state:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_arm/state:o" process 2082
-> announce "/icubSim/left_arm/state:o"
 * register "/icubSim/left_arm/stateExt:o"
   + set "/icubSim/left_arm/stateExt:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_arm/stateExt:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_arm/stateExt:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_arm/stateExt:o" process 2082
-> announce "/icubSim/left_arm/stateExt:o"
 * register "/icubSim/right_arm/rpc:i"
   + set "/icubSim/right_arm/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_arm/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_arm/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_arm/rpc:i" process 2082
-> announce "/icubSim/right_arm/rpc:i"
 * register "/icubSim/right_arm/command:i"
   + set "/icubSim/right_arm/command:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_arm/command:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_arm/command:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_arm/command:i" process 2082
-> announce "/icubSim/right_arm/command:i"
 * register "/icubSim/right_arm/state:o" "..." "..." -1 "yarp/vector"
   + set "/icubSim/right_arm/state:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_arm/state:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_arm/state:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_arm/state:o" process 2082
-> announce "/icubSim/right_arm/state:o"
 * register "/icubSim/right_arm/stateExt:o"
   + set "/icubSim/right_arm/stateExt:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_arm/stateExt:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_arm/stateExt:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_arm/stateExt:o" process 2082
-> announce "/icubSim/right_arm/stateExt:o"
 * register "/icubSim/right_leg/rpc:i"
   + set "/icubSim/right_leg/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_leg/rpc:i" process 2082
-> announce "/icubSim/right_leg/rpc:i"
 * register "/icubSim/right_leg/command:i"
   + set "/icubSim/right_leg/command:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/command:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/command:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_leg/command:i" process 2082
-> announce "/icubSim/right_leg/command:i"
 * register "/icubSim/right_leg/state:o" "..." "..." -1 "yarp/vector"
   + set "/icubSim/right_leg/state:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/state:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/state:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_leg/state:o" process 2082
-> announce "/icubSim/right_leg/state:o"
 * register "/icubSim/right_leg/stateExt:o"
   + set "/icubSim/right_leg/stateExt:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/stateExt:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/right_leg/stateExt:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/right_leg/stateExt:o" process 2082
-> announce "/icubSim/right_leg/stateExt:o"
 * register "/icubSim/left_leg/rpc:i"
   + set "/icubSim/left_leg/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_leg/rpc:i" process 2082
-> announce "/icubSim/left_leg/rpc:i"
 * register "/icubSim/left_leg/command:i"
   + set "/icubSim/left_leg/command:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/command:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/command:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_leg/command:i" process 2082
-> announce "/icubSim/left_leg/command:i"
 * register "/icubSim/left_leg/state:o" "..." "..." -1 "yarp/vector"
   + set "/icubSim/left_leg/state:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/state:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/state:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_leg/state:o" process 2082
-> announce "/icubSim/left_leg/state:o"
 * register "/icubSim/left_leg/stateExt:o"
   + set "/icubSim/left_leg/stateExt:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/stateExt:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/left_leg/stateExt:o" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/left_leg/stateExt:o" process 2082
-> announce "/icubSim/left_leg/stateExt:o"
 * register "/icubSim/applyExternalWrench/rpc:i"
   + set "/icubSim/applyExternalWrench/rpc:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/applyExternalWrench/rpc:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/icubSim/applyExternalWrench/rpc:i" ips "127.0.0.1" "10.255.111.45"
   + set "/icubSim/applyExternalWrench/rpc:i" process 2082
-> announce "/icubSim/applyExternalWrench/rpc:i"
 * lsit
 * list
 * register "/collaborativeController/robot1/CoMPosition:o" "..." "..." -1 "yarp/vector"
   + set "/collaborativeController/robot1/CoMPosition:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/collaborativeController/robot1/CoMPosition:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/collaborativeController/robot1/CoMPosition:o" ips "127.0.0.1" "10.255.111.45"
   + set "/collaborativeController/robot1/CoMPosition:o" process 1935
-> announce "/collaborativeController/robot1/CoMPosition:o"
 * register "/collaborativeController/robot1/basePose:o" "..." "..." -1 "yarp/vector"
   + set "/collaborativeController/robot1/basePose:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/collaborativeController/robot1/basePose:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/collaborativeController/robot1/basePose:o" ips "127.0.0.1" "10.255.111.45"
   + set "/collaborativeController/robot1/basePose:o" process 1935
-> announce "/collaborativeController/robot1/basePose:o"
 * register "/collaborativeController/robot1/jointPosition:o" "..." "..." -1 "yarp/vector"
   + set "/collaborativeController/robot1/jointPosition:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/collaborativeController/robot1/jointPosition:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/collaborativeController/robot1/jointPosition:o" ips "127.0.0.1" "10.255.111.45"
   + set "/collaborativeController/robot1/jointPosition:o" process 1935
-> announce "/collaborativeController/robot1/jointPosition:o"
 * register "/collaborativeController/robot1/stateVelocity:o" "..." "..." -1 "yarp/vector"
   + set "/collaborativeController/robot1/stateVelocity:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/collaborativeController/robot1/stateVelocity:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/collaborativeController/robot1/stateVelocity:o" ips "127.0.0.1" "10.255.111.45"
   + set "/collaborativeController/robot1/stateVelocity:o" process 1935
-> announce "/collaborativeController/robot1/stateVelocity:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o"
 * query "/icubSim/torso/rpc:i"
 * query "/icubSim/torso/rpc:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o"
 * query "/icubSim/torso/command:i"
 * query "/icubSim/torso/command:i"
 * query "/icubSim/torso/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o"
 * query "/icubSim/left_arm/rpc:i"
 * query "/icubSim/left_arm/rpc:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o"
 * query "/icubSim/left_arm/command:i"
 * query "/icubSim/left_arm/command:i"
 * query "/icubSim/left_arm/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o"
 * query "/icubSim/right_arm/rpc:i"
 * query "/icubSim/right_arm/rpc:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o"
 * query "/icubSim/right_arm/command:i"
 * query "/icubSim/right_arm/command:i"
 * query "/icubSim/right_arm/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o"
 * query "/icubSim/left_leg/rpc:i"
 * query "/icubSim/left_leg/rpc:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o"
 * query "/icubSim/left_leg/command:i"
 * query "/icubSim/left_leg/command:i"
 * query "/icubSim/left_leg/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/command:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/command:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/command:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/command:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/command:o" process 1935
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/stateExt:i"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/stateExt:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/stateExt:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/stateExt:i" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/stateExt:i" process 1935
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/command:o"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o"
 * query "/icubSim/torso/command:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o"
 * query "/icubSim/torso/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o"
 * query "/icubSim/left_arm/command:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o"
 * query "/icubSim/left_arm/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o"
 * query "/icubSim/right_arm/command:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o"
 * query "/icubSim/right_arm/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o"
 * query "/icubSim/left_leg/command:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o"
 * query "/icubSim/left_leg/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o"
 * query "/icubSim/torso/rpc:i"
 * query "/icubSim/torso/rpc:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o"
 * query "/icubSim/torso/command:i"
 * query "/icubSim/torso/command:i"
 * query "/icubSim/torso/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o"
 * query "/icubSim/left_arm/rpc:i"
 * query "/icubSim/left_arm/rpc:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o"
 * query "/icubSim/left_arm/command:i"
 * query "/icubSim/left_arm/command:i"
 * query "/icubSim/left_arm/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o"
 * query "/icubSim/right_arm/rpc:i"
 * query "/icubSim/right_arm/rpc:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o"
 * query "/icubSim/right_arm/command:i"
 * query "/icubSim/right_arm/command:i"
 * query "/icubSim/right_arm/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o"
 * query "/icubSim/left_leg/rpc:i"
 * query "/icubSim/left_leg/rpc:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o"
 * query "/icubSim/left_leg/command:i"
 * query "/icubSim/left_leg/command:i"
 * query "/icubSim/left_leg/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o" process 1935
-> announce "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o"
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/command:o"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/command:o" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/command:o" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/command:o" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/command:o" process 1935
 * register "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/stateExt:i"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/stateExt:i" offers http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/stateExt:i" accepts http name_ser local tcp fast_tcp mcast udp text text_ack bayer human portmonitor priority rossrv shmem tcpros unix_stream xmlrpc
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/stateExt:i" ips "127.0.0.1" "10.255.111.45"
   + set "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/stateExt:i" process 1935
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/rpc:o"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/command:o"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_leg/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/rpc:o"
 * query "/icubSim/torso/command:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/command:o"
 * query "/icubSim/torso/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/torso/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/rpc:o"
 * query "/icubSim/left_arm/command:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/command:o"
 * query "/icubSim/left_arm/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_arm/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/rpc:o"
 * query "/icubSim/right_arm/command:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/command:o"
 * query "/icubSim/right_arm/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/right_arm/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/rpc:o"
 * query "/icubSim/left_leg/command:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/command:o"
 * query "/icubSim/left_leg/stateExt:o"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i"
 * query "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i"
 * unregister "/WBT/MomentumBasedControllerModel1Configuration/icubSim/left_leg/stateExt:i"