World Port Control with gazebo-yarp

[lucamrs]

Hi there,
i'm using iCub_SIM to simulate grasping behaviour via joints position control and i wanted to try gazebo-yarp to test the functions and performance of the new simulator.
The problem is that, if my understanding is correct, there's no backward compatibility between programs that interacted with Yarp/iCub_SIM before and the new gazebo-yarp interface.
Connecting to the world port and sending commands to it doesn't seem to have any effect at all.
I can see that some yarp related functions ended up in "WorldInterface" but i couldn't find a basic tutorial on how to setup and use them.
It would be useful to have some examples lines, al least for the basis object creation and removal commands (eg: world mk sbox.../world del ...).
Thank you for your help

[randaz81]

yes, unfortunately the interface commands have different names from icub_sim.
I'll check for the tutorial...

[pattacini]

Duplicate of robotology/community#201