/icubSim/left_leg/rpc:i : left_leg rpc port
/icubSim/left_leg/command:i : left_leg command port
/icubSim/left_leg/state:o : left_leg state port
/icubSim/right_leg/rpc:i : right_leg rpc port
/icubSim/right_leg/command:i : right_leg command port
/icubSim/right_leg/state:o : right_leg state port
/icubSim/torso/rpc:i : torso rpc port
/icubSim/torso/command:i : torso command port
/icubSim/torso/state:o : torso state port
/icubSim/left_arm/rpc:i : left arm rpc port
/icubSim/left_arm/command:i : left arm command port
/icubSim/left_arm/state:o : left arm state port
/icubSim/right_arm/rpc:i : right arm rpc port
/icubSim/right_arm/command:i : right arm command port
/icubSim/right_arm/state:o : right arm state port
/icubSim/head/rpc:i : head rpc port
/icubSim/head/command:i : head command port
/icubSim/head/state:o : head state port
/icubSim/face/eyelids : port to control the eyelids
/icubSim/cam/left : streams out the data from the left camera (cartesian format 320x240 )
/icubSim/cam/left/fovea : streams out the data from the left camera (fovea format 128x128 )
/icubSim/cam/left/logpolar : streams out the data from the left camera (log polar format 252x152 )
/icubSim/cam/right : streams out the data from the right camera (cartesian format 320x240 )
/icubSim/cam/right/fovea : streams out the data from the left camera (fovea format 128x128 )
/icubSim/cam/right/logpolar : streams out the data from the left camera (log polar format 252x152 )
/icubSim/cam : streams out the data from the global view
/icubSim/skinManager/skin_events:o
/icubSim/skin/left_arm_comp
/icubSim/skin/right_arm_comp
/icubSim/skin/left_forearm_comp
/icubSim/skin/right_forearm_comp
/icubSim/skin/left_hand_comp
/icubSim/skin/right_hand_comp
/icubSim/skin/torso_comp
/icubSim/world : port to manipulate the environment
/icubSim/touch : streams out a sequence the touch sensors for both hands
/icubSim/inertial : streams out a sequence of inertial data taken from the head
/icubSim/texture : port to receive texture data to place on an object (e.g. data from a webcam etc...)
