diff --git a/.github/workflows/conda-ci.yml b/.github/workflows/conda-ci.yml
index 3ddf8f838..adebef9d9 100644
--- a/.github/workflows/conda-ci.yml
+++ b/.github/workflows/conda-ci.yml
@@ -15,7 +15,7 @@ jobs:
     strategy:
       matrix:
         build_type: [Release]
-        os: [ubuntu-latest, windows-latest, macos-latest]
+        os: [ubuntu-latest, windows-2019, macos-latest]
       fail-fast: false
 
     steps:
diff --git a/CHANGELOG.md b/CHANGELOG.md
index c850fa2ad..70dfab5bc 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,8 +5,17 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo
 
 ## [Unreleased]
 
+## [4.2.0] - 2022-02-28
+
+### Added
+- Added `disableImplicitNetworkWrapper` option to `gazebo_yarp_forcetorque`, `gazebo_yarp_depthcamera`, `gazebo_yarp_lasersensor`, `gazebo_yarp_imu` and `gazebo_yarp_controlboard` plugins. If present, this option
+disable any network wrapper server that the plugin created, by just creating the device itself. This option is meant to be used in conjuction with the `gazebo_yarp_robotinterface` plugin, that can be used to launch and attach any networ wrapper server. This option is equivalent to the behavior that can be obtained by setting the CMake option `GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS` to `OFF` (https://github.com/robotology/gazebo-yarp-plugins/pull/586).
+- The possibility to limit the decimal places of the pixels values has been added to the `gazebo_yarp_depthcamera` plugin, via the `QUANT_PARAM::depth_quant` parameter. The data modification is performed in the `GazeboYarpDepthCameraDriver::getDepthImage` function (https://github.com/robotology/gazebo-yarp-plugins/pull/608).
+
+
 ### Fixed
 - Removed `getLastInputStamp` method from `LaserSensorDriver` class in `gazebo_yarp_lasersensor`. Furthermore, fix bug in `gazebo_yarp_lasersensor`, by adding the update to the variable `m_timestamp` inherited from `yarp::dev::Lidar2DDeviceBase` (https://github.com/robotology/gazebo-yarp-plugins/pull/604).
+- Fix use of yarpConfigurationString parameter in `gazebo_yarp_worldinterface` plugin (https://github.com/robotology/gazebo-yarp-plugins/pull/609).
 
 ## [4.1.2] - 2022-01-19
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4ad9bf3a8..2dc03881c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,8 +8,8 @@ option(GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS "if enabled removes
 
 # Project version
 set(${PROJECT_NAME}_MAJOR_VERSION 4)
-set(${PROJECT_NAME}_MINOR_VERSION 1)
-set(${PROJECT_NAME}_PATCH_VERSION 1)
+set(${PROJECT_NAME}_MINOR_VERSION 2)
+set(${PROJECT_NAME}_PATCH_VERSION 0)
 
 set(${PROJECT_NAME}_VERSION
     ${${PROJECT_NAME}_MAJOR_VERSION}.${${PROJECT_NAME}_MINOR_VERSION}.${${PROJECT_NAME}_PATCH_VERSION})
diff --git a/plugins/controlboard/include/gazebo/ControlBoard.hh b/plugins/controlboard/include/gazebo/ControlBoard.hh
index e80595bb5..6c403bf49 100644
--- a/plugins/controlboard/include/gazebo/ControlBoard.hh
+++ b/plugins/controlboard/include/gazebo/ControlBoard.hh
@@ -57,11 +57,10 @@ private:
     yarp::dev::IMultipleWrapper* m_iVirtAnalogSensorWrap;
     yarp::dev::PolyDriverList m_controlBoards;
     bool m_useVirtAnalogSensor = false;
-    #else
+    #endif
     yarp::dev::PolyDriver m_controlboardDriver;
     std::string m_scopedDeviceName;
     std::string m_yarpDeviceName;
-    #endif
 
     yarp::os::Property m_parameters;
 
diff --git a/plugins/controlboard/src/ControlBoard.cc b/plugins/controlboard/src/ControlBoard.cc
index 07deeb9ae..379a0adff 100644
--- a/plugins/controlboard/src/ControlBoard.cc
+++ b/plugins/controlboard/src/ControlBoard.cc
@@ -101,170 +101,221 @@ GZ_REGISTER_MODEL_PLUGIN(GazeboYarpControlBoard)
             return;
         }
         #ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
-
-        yarp::os::Bottle wrapper_group = m_parameters.findGroup("WRAPPER");
-        if(wrapper_group.isNull())
-        {
-            yCDebug(GAZEBOCONTROLBOARD) <<"[WRAPPER] group not found in config file";
-        }
-
-        if(m_parameters.check("ROS"))
+        bool disable_wrapper = m_parameters.check("disableImplicitNetworkWrapper");
+        
+        if (disable_wrapper && !m_parameters.check("yarpDeviceName"))
         {
-            std::string ROS;
-            ROS = std::string ("(") + m_parameters.findGroup("ROS").toString() + std::string (")");
-            wrapper_group.append(yarp::os::Bottle(ROS));
-        }
-
-        m_wrapper.open(wrapper_group);
-
-        if (!m_wrapper.isValid()) {
-            yCError(GAZEBOCONTROLBOARD) <<"wrapper did not open, load failed.";
-            m_wrapper.close();
-            return;
-        }
-
-        if (!m_wrapper.view(m_iWrap)) {
-            yCError(GAZEBOCONTROLBOARD) <<"wrapper interface not found, load failed.";
-        }
-
-        yarp::os::Bottle *netList = wrapper_group.find("networks").asList();
-
-        if (netList->isNull()) {
-            yCError(GAZEBOCONTROLBOARD) <<"net list to attach to was not found, load failed.";
-            m_wrapper.close();
+            yError() << "GazeboYarpControlBoard : missing yarpDeviceName parameter for one device in robot " << m_robotName;
             return;
         }
-
-        yarp::os::Bottle driver_group;
-        yarp::os::Bottle virt_group;
-
-        m_useVirtAnalogSensor = m_parameters.check("useVirtualAnalogSensor", yarp::os::Value(false)).asBool();
-        if (m_useVirtAnalogSensor)
+        
+        
+        if (!disable_wrapper) 
         {
-            virt_group = m_parameters.findGroup("VIRTUAL_ANALOG_SERVER");
-            if (virt_group.isNull())
+            yarp::os::Bottle wrapper_group = m_parameters.findGroup("WRAPPER");
+            if(wrapper_group.isNull())
             {
-                yCError(GAZEBOCONTROLBOARD) <<"[VIRTUAL_ANALOG_SERVER] group not found in config file";
-                return;
+                yCDebug(GAZEBOCONTROLBOARD) <<"[WRAPPER] group not found in config file";
             }
 
-            yarp::os::Bottle& robotName_config = virt_group.addList();
-            robotName_config.addString("robotName");
-            robotName_config.addString(m_robotName.c_str());
+            if(m_parameters.check("ROS"))
+            {
+                std::string ROS;
+                ROS = std::string ("(") + m_parameters.findGroup("ROS").toString() + std::string (")");
+                wrapper_group.append(yarp::os::Bottle(ROS));
+            }
 
-            std::string networks = std::string("(") + wrapper_group.findGroup("networks").toString() + std::string(")");
-            virt_group.append(yarp::os::Bottle(networks));
-        }
+            m_wrapper.open(wrapper_group);
 
-        for (int n = 0; n < netList->size(); n++)
-        {
-            yarp::dev::PolyDriverDescriptor newPoly;
+            if (!m_wrapper.isValid()) {
+                yCError(GAZEBOCONTROLBOARD) <<"wrapper did not open, load failed.";
+                m_wrapper.close();
+                return;
+            }
 
-            newPoly.key = netList->get(n).asString();
+            if (!m_wrapper.view(m_iWrap)) {
+                yCError(GAZEBOCONTROLBOARD) <<"wrapper interface not found, load failed.";
+            }
+
+            yarp::os::Bottle driver_group;
+            yarp::os::Bottle virt_group;
 
-            // initially deal with virtual analog stuff
+            m_useVirtAnalogSensor = m_parameters.check("useVirtualAnalogSensor", yarp::os::Value(false)).asBool();
             if (m_useVirtAnalogSensor)
             {
-                std::string net = std::string("(") + wrapper_group.findGroup(newPoly.key.c_str()).toString() + std::string(")");
-                virt_group.append(yarp::os::Bottle(net));
-            }
+                virt_group = m_parameters.findGroup("VIRTUAL_ANALOG_SERVER");
+                if (virt_group.isNull())
+                {
+                    yCError(GAZEBOCONTROLBOARD) <<"[VIRTUAL_ANALOG_SERVER] group not found in config file";
+                    return;
+                }
 
-            std::string scopedDeviceName;
-            if(!m_parameters.check("yarpDeviceName"))
-            {
-                scopedDeviceName = m_robotName + "::" + newPoly.key.c_str();
-            }
-            else
-            {
-                scopedDeviceName = m_robotName + "::" + m_parameters.find("yarpDeviceName").asString();
+                yarp::os::Bottle& robotName_config = virt_group.addList();
+                robotName_config.addString("robotName");
+                robotName_config.addString(m_robotName.c_str());
+
+                std::string networks = std::string("(") + wrapper_group.findGroup("networks").toString() + std::string(")");
+                virt_group.append(yarp::os::Bottle(networks));
             }
-            newPoly.poly = GazeboYarpPlugins::Handler::getHandler()->getDevice(scopedDeviceName);
-            if( newPoly.poly != NULL)
-            {
-                // device already exists, use it, setting it againg to increment the usage counter.
-                yCWarning(GAZEBOCONTROLBOARD) << newPoly.key.c_str() << "already opened.";
+
+       
+        
+            yarp::os::Bottle *netList = wrapper_group.find("networks").asList();
+
+            if (netList->isNull()) {
+                yCError(GAZEBOCONTROLBOARD) <<"net list to attach to was not found, load failed.";
+                m_wrapper.close();
+                return;
             }
-            else
+        
+
+            
+            for (int n = 0; n < netList->size(); n++)
             {
-                driver_group = m_parameters.findGroup(newPoly.key.c_str());
-                if (driver_group.isNull()) {
-                    yCError(GAZEBOCONTROLBOARD) <<"group not found in config file. Closing wrapper." << newPoly.key.c_str();
-                    m_wrapper.close();
-                    return;
-                }
+                yarp::dev::PolyDriverDescriptor newPoly;
 
-                m_parameters.put("name", newPoly.key.c_str());
-                m_parameters.fromString(driver_group.toString(), false);
-                m_parameters.put("robotScopedName", m_robotName);
+                newPoly.key = netList->get(n).asString();
 
-                if (_sdf->HasElement("initialConfiguration")) {
-                    //yCDebug(GAZEBOCONTROLBOARD)<<"Found initial Configuration: ";
-                    std::string configuration_s = _sdf->Get<std::string>("initialConfiguration");
-                    m_parameters.put("initialConfiguration", configuration_s.c_str());
-                    //yCDebug(GAZEBOCONTROLBOARD)<<configuration_s;
+                // initially deal with virtual analog stuff
+                if (m_useVirtAnalogSensor)
+                {
+                    std::string net = std::string("(") + wrapper_group.findGroup(newPoly.key.c_str()).toString() + std::string(")");
+                    virt_group.append(yarp::os::Bottle(net));
                 }
 
-                newPoly.poly = new yarp::dev::PolyDriver;
-                if(! newPoly.poly->open(m_parameters) || ! newPoly.poly->isValid())
+                std::string scopedDeviceName;
+                if(!m_parameters.check("yarpDeviceName"))
                 {
-                    yCError(GAZEBOCONTROLBOARD) << newPoly.key << "> did not open.";
-                    for(int idx=0; idx<m_controlBoards.size(); idx++)
+                    scopedDeviceName = m_robotName + "::" + newPoly.key.c_str();
+                }
+                    else
+                {
+                    scopedDeviceName = m_robotName + "::" + m_parameters.find("yarpDeviceName").asString();
+                }
+            
+                newPoly.poly = GazeboYarpPlugins::Handler::getHandler()->getDevice(scopedDeviceName);
+            
+                if( newPoly.poly != NULL)
+                {
+                    // device already exists, use it, setting it againg to increment the usage counter.
+                    yCWarning(GAZEBOCONTROLBOARD) << newPoly.key.c_str() << "already opened.";
+                }
+                else
+                {
+                    driver_group = m_parameters.findGroup(newPoly.key.c_str());
+                    if (driver_group.isNull()) {
+                        yCError(GAZEBOCONTROLBOARD) <<"group not found in config file. Closing wrapper." << newPoly.key.c_str();
+                        m_wrapper.close();
+                        return;
+                    }
+
+                    m_parameters.put("name", newPoly.key.c_str());
+                    m_parameters.fromString(driver_group.toString(), false);
+                    m_parameters.put("robotScopedName", m_robotName);
+
+                    if (_sdf->HasElement("initialConfiguration")) {
+                        //yCDebug(GAZEBOCONTROLBOARD)<<"Found initial Configuration: ";
+                        std::string configuration_s = _sdf->Get<std::string>("initialConfiguration");
+                        m_parameters.put("initialConfiguration", configuration_s.c_str());
+                        //yCDebug(GAZEBOCONTROLBOARD)<<configuration_s;
+                    }
+
+                    newPoly.poly = new yarp::dev::PolyDriver;
+                    if(! newPoly.poly->open(m_parameters) || ! newPoly.poly->isValid())
                     {
-                        m_controlBoards[idx]->poly->close();
+                        yCError(GAZEBOCONTROLBOARD) << newPoly.key << "> did not open.";
+                        for(int idx=0; idx<m_controlBoards.size(); idx++)
+                        {
+                            m_controlBoards[idx]->poly->close();
+                        }
+                        m_wrapper.close();
+                        return;
                     }
-                    m_wrapper.close();
+                }
+
+                //Register the device with the given name
+                if(!GazeboYarpPlugins::Handler::getHandler()->setDevice(scopedDeviceName, newPoly.poly))
+                {
+                    yCError(GAZEBOCONTROLBOARD) << "failed setting scopedDeviceName(=" << scopedDeviceName << ")";
                     return;
                 }
+                yCInfo(GAZEBOCONTROLBOARD) << "Registered YARP device with instance name:" << scopedDeviceName;
+
+                m_controlBoards.push(newPoly);
             }
 
-            //Register the device with the given name
-            if(!GazeboYarpPlugins::Handler::getHandler()->setDevice(scopedDeviceName, newPoly.poly))
+            if (m_useVirtAnalogSensor)
             {
-                yCError(GAZEBOCONTROLBOARD) << "failed setting scopedDeviceName(=" << scopedDeviceName << ")";
-                return;
-            }
-            yCInfo(GAZEBOCONTROLBOARD) << "Registered YARP device with instance name:" << scopedDeviceName;
+                m_virtAnalogSensorWrapper.open(virt_group);
 
-            m_controlBoards.push(newPoly);
-        }
+                if (!m_virtAnalogSensorWrapper.isValid())
+                {
+                    yCError(GAZEBOCONTROLBOARD) << "Virtual analog sensor wrapper did not open, load failed.";
+                    m_virtAnalogSensorWrapper.close();
+                    return;
+                }
 
-        if (m_useVirtAnalogSensor)
-        {
-            m_virtAnalogSensorWrapper.open(virt_group);
+                if (!m_virtAnalogSensorWrapper.view(m_iVirtAnalogSensorWrap))
+                {
+                    yCError(GAZEBOCONTROLBOARD) << "Could not view the IVirtualAnalogSensor interface";
+                    return;
+                }
 
-            if (!m_virtAnalogSensorWrapper.isValid())
+                if (!m_iVirtAnalogSensorWrap->attachAll(m_controlBoards))
+                {
+                    yCError(GAZEBOCONTROLBOARD) << "Could not attach VirtualAnalogSensor interface to controlboards";
+                    return;
+                }
+            }
+        
+            if (!m_iWrap || !m_iWrap->attachAll(m_controlBoards))
             {
-                yCError(GAZEBOCONTROLBOARD) << "Virtual analog sensor wrapper did not open, load failed.";
-                m_virtAnalogSensorWrapper.close();
+                yCError(GAZEBOCONTROLBOARD) << "error while attaching wrapper to device.";
+                m_wrapper.close();
+                if (m_useVirtAnalogSensor)
+                {
+                    m_virtAnalogSensorWrapper.close();
+                }
+                for (int n = 0; n < netList->size(); n++) {
+                    std::string scopedDeviceName = m_robotName + "::" + m_controlBoards[n]->key.c_str();
+                    GazeboYarpPlugins::Handler::getHandler()->removeDevice(scopedDeviceName);
+                }
                 return;
             }
-
-            if (!m_virtAnalogSensorWrapper.view(m_iVirtAnalogSensorWrap))
+        } else {
+            if(!m_parameters.check("yarpDeviceName"))
             {
-                yCError(GAZEBOCONTROLBOARD) << "Could not view the IVirtualAnalogSensor interface";
+                yCError(GAZEBOCONTROLBOARD) << "missing parameter yarpDeviceName";
                 return;
             }
+            m_yarpDeviceName = m_parameters.find("yarpDeviceName").asString();
+            m_scopedDeviceName = m_robotName + "::" + m_yarpDeviceName;
+
+            m_parameters.put("device","gazebo_controlboard");
+            m_parameters.put("name", m_scopedDeviceName);
+            m_parameters.put("robotScopedName", m_robotName);
+            yCDebug(GAZEBOCONTROLBOARD) << "m_parameters:"<<m_parameters.toString();
+
+            if (_sdf->HasElement("initialConfiguration")) {
+                //yCDebug(GAZEBOCONTROLBOARD)<<"Found initial Configuration: ";
+                std::string configuration_s = _sdf->Get<std::string>("initialConfiguration");
+                m_parameters.put("initialConfiguration", configuration_s.c_str());
+                //yCDebug(GAZEBOCONTROLBOARD)<<configuration_s;
+            }
 
-            if (!m_iVirtAnalogSensorWrap->attachAll(m_controlBoards))
+            if(! m_controlboardDriver.open(m_parameters) || ! m_controlboardDriver.isValid())
             {
-                yCError(GAZEBOCONTROLBOARD) << "Could not attach VirtualAnalogSensor interface to controlboards";
+                yCError(GAZEBOCONTROLBOARD) << m_yarpDeviceName.c_str() << "> did not open.";
+                m_controlboardDriver.close();
                 return;
             }
-        }
-
-        if (!m_iWrap || !m_iWrap->attachAll(m_controlBoards))
-        {
-            yCError(GAZEBOCONTROLBOARD) << "error while attaching wrapper to device.";
-            m_wrapper.close();
-            if (m_useVirtAnalogSensor)
+            //Register the device with the given name
+            if(!GazeboYarpPlugins::Handler::getHandler()->setDevice(m_scopedDeviceName, &m_controlboardDriver))
             {
-                m_virtAnalogSensorWrapper.close();
-            }
-            for (int n = 0; n < netList->size(); n++) {
-                std::string scopedDeviceName = m_robotName + "::" + m_controlBoards[n]->key.c_str();
-                GazeboYarpPlugins::Handler::getHandler()->removeDevice(scopedDeviceName);
+                yCError(GAZEBOCONTROLBOARD) << "failed setting scopedDeviceName(=" << m_scopedDeviceName << ")";
+                return;
             }
-            return;
+            yCInfo(GAZEBOCONTROLBOARD) << "Registered YARP device with instance name:" << m_scopedDeviceName;
         }
         #else
         if(!m_parameters.check("yarpDeviceName"))
diff --git a/plugins/controlboard/src/ControlBoardDriver.cpp b/plugins/controlboard/src/ControlBoardDriver.cpp
index 62acef69c..05f824030 100644
--- a/plugins/controlboard/src/ControlBoardDriver.cpp
+++ b/plugins/controlboard/src/ControlBoardDriver.cpp
@@ -1300,21 +1300,27 @@ bool GazeboYarpControlBoardDriver::setPIDsForGroup_IMPEDANCE(std::vector<std::st
 bool GazeboYarpControlBoardDriver::findMotorControlGroup(yarp::os::Bottle& motorControlGroup_bot) const
 {
     #ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
-    if (!m_pluginParameters.check("WRAPPER"))
+    bool disable_wrapper = m_pluginParameters.check("disableImplicitNetworkWrapper");
+    if (!disable_wrapper)
     {
-        yCError(GAZEBOCONTROLBOARD)<<"Missing WRAPPER group";
-        return false;
-    }
+        if (!m_pluginParameters.check("WRAPPER"))
+        {
+            yCError(GAZEBOCONTROLBOARD)<<"Missing WRAPPER group";
+            return false;
+        }
 
-    if (!m_pluginParameters.findGroup("WRAPPER").check("networks"))
-    {
-        yCError(GAZEBOCONTROLBOARD)<<"Missing networks group";
-        return false;
-    }
-    yarp::os::Bottle& name_bot = m_pluginParameters.findGroup("WRAPPER").findGroup("networks");
-    std::string name = name_bot.get(1).toString();
+        if (!m_pluginParameters.findGroup("WRAPPER").check("networks"))
+        {
+            yCError(GAZEBOCONTROLBOARD)<<"Missing networks group";
+            return false;
+        }
+        yarp::os::Bottle& name_bot = m_pluginParameters.findGroup("WRAPPER").findGroup("networks");
+        std::string name = name_bot.get(1).toString();
 
-    motorControlGroup_bot = m_pluginParameters.findGroup(name);
+        motorControlGroup_bot = m_pluginParameters.findGroup(name);
+    } else {
+        motorControlGroup_bot.fromString(m_pluginParameters.toString());
+    }
     #else
     motorControlGroup_bot.fromString(m_pluginParameters.toString());
     #endif
diff --git a/plugins/depthCamera/include/gazebo/DepthCamera.hh b/plugins/depthCamera/include/gazebo/DepthCamera.hh
index 557b16afd..ad7efeaad 100644
--- a/plugins/depthCamera/include/gazebo/DepthCamera.hh
+++ b/plugins/depthCamera/include/gazebo/DepthCamera.hh
@@ -45,6 +45,7 @@ namespace gazebo
     ///  <TABLE>
     ///  <TR><TD> name </TD><TD> Port name to assign to the wrapper to this device. </TD></TR>
     ///  <TR><TD> period </TD><TD> Update period (in s) of yarp port that publish the measure. </TD></TR>
+    ///  <TR><TD> QUANT_PARAM::depth_quant </TD><TD> The number of decimals for the values of the depth image pixels </TD></TR>
     ///  </TABLE>
     /// If the required parameters are not specified, their value will be the
     /// default one assigned by the yarp::dev::ServerFrameGrabbers wrapper.
diff --git a/plugins/depthCamera/include/yarp/dev/DepthCameraDriver.h b/plugins/depthCamera/include/yarp/dev/DepthCameraDriver.h
index ce5567a97..e672aee20 100644
--- a/plugins/depthCamera/include/yarp/dev/DepthCameraDriver.h
+++ b/plugins/depthCamera/include/yarp/dev/DepthCameraDriver.h
@@ -17,6 +17,7 @@
 #include <gazebo/sensors/CameraSensor.hh>
 #include <gazebo/rendering/DepthCamera.hh>
 #include <gazebo/sensors/DepthCameraSensor.hh>
+#include <cmath>
 
 #include <mutex>
 
@@ -130,6 +131,10 @@ class yarp::dev::GazeboYarpDepthCameraDriver:   public yarp::dev::DeviceDriver,
     gazebo::event::ConnectionPtr              m_updateDepthFrame_Connection;
     gazebo::event::ConnectionPtr              m_updateRGBPointCloud_Connection;
     gazebo::event::ConnectionPtr              m_updateImageFrame_Connection;
+
+    // Data quantization related parameters
+    bool                             m_depthQuantizationEnabled{false};
+    int                              m_depthDecimalNum{0};
 };
 
 #endif // GAZEBOYARP_DEPTHCAMERADRIVER_H
diff --git a/plugins/depthCamera/src/DepthCamera.cc b/plugins/depthCamera/src/DepthCamera.cc
index 2eb3c00be..a5c9a6817 100644
--- a/plugins/depthCamera/src/DepthCamera.cc
+++ b/plugins/depthCamera/src/DepthCamera.cc
@@ -90,19 +90,28 @@ void GazeboYarpDepthCamera::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sd
     m_driverParameters.put(YarpScopedName.c_str(), m_sensorName.c_str());
 
     #ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
-    ///////////////////////////
-    //Open the wrapper, forcing it to be a "RGBDSensorWrapper"
-    wrapper_properties.put("device","RGBDSensorWrapper");
-    if(wrapper_properties.check("subdevice"))
+    bool disable_wrapper = m_driverParameters.check("disableImplicitNetworkWrapper");
+    if (!disable_wrapper)
     {
-        yCError(GAZEBODEPTH) << "RGBDSensorWrapper:  Do not use 'subdevice' keyword here since the only supported subdevice is <gazebo_depthCamera>. \
+        ///////////////////////////
+        //Open the wrapper, forcing it to be a "RGBDSensorWrapper"
+        wrapper_properties.put("device","RGBDSensorWrapper");
+        if(wrapper_properties.check("subdevice"))
+        {
+            yCError(GAZEBODEPTH) << "RGBDSensorWrapper:  Do not use 'subdevice' keyword here since the only supported subdevice is <gazebo_depthCamera>. \
                      Please remove the line 'subdevice " << wrapper_properties.find("subdevice").asString().c_str() << "' from your config file before proceeding";
-        return;
+            return;
+        }
+
+        if(!m_cameraWrapper.open(wrapper_properties) )
+        {
+            yCError(GAZEBODEPTH)<<"GazeboYarpDepthCamera Plugin failed: error in opening yarp wrapper";
+            return;
+        }    
     }
-
-    if(!m_cameraWrapper.open(wrapper_properties) )
+    if (disable_wrapper && !m_driverParameters.check("yarpDeviceName"))
     {
-        yCError(GAZEBODEPTH)<<"GazeboYarpDepthCamera Plugin failed: error in opening yarp wrapper";
+        yCError(GAZEBODEPTH) << "GazeboYarpDepthCamera : missing yarpDeviceName parameter for device" << m_sensorName;
         return;
     }
     #endif
@@ -119,20 +128,23 @@ void GazeboYarpDepthCamera::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sd
     }
 
     #ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
-    //Attach the driver to the wrapper
     ::yarp::dev::PolyDriverList driver_list;
-
-    if(!m_cameraWrapper.view(m_iWrap) )
+    if (!disable_wrapper) 
     {
-        yCError(GAZEBODEPTH) << "GazeboYarpDepthCamera : error in loading wrapper";
-        return;
-    }
+        //Attach the driver to the wrapper
 
-    driver_list.push(&m_cameraDriver, "depthcamera");
+        if(!m_cameraWrapper.view(m_iWrap) )
+        {
+            yCError(GAZEBODEPTH) << "GazeboYarpDepthCamera : error in loading wrapper";
+            return;
+        }
 
-    if(!m_iWrap->attachAll(driver_list) )
-    {
-        yCError(GAZEBODEPTH) << "GazeboYarpDepthCamera : error in connecting wrapper and device ";
+        driver_list.push(&m_cameraDriver, "depthcamera");
+
+        if(!m_iWrap->attachAll(driver_list) )
+        {
+            yCError(GAZEBODEPTH) << "GazeboYarpDepthCamera : error in connecting wrapper and device ";
+        }
     }
     #endif
     
diff --git a/plugins/depthCamera/src/DepthCameraDriver.cpp b/plugins/depthCamera/src/DepthCameraDriver.cpp
index ff8fabe9a..a06a4c3a6 100644
--- a/plugins/depthCamera/src/DepthCameraDriver.cpp
+++ b/plugins/depthCamera/src/DepthCameraDriver.cpp
@@ -28,6 +28,7 @@ using GazeboYarpPlugins::GAZEBODEPTH;
 
 const string YarpScopedName = "sensorScopedName";
 
+
 GazeboYarpDepthCameraDriver::GazeboYarpDepthCameraDriver()
 {
     m_imageFormat                    = VOCAB_PIXEL_RGB;
@@ -76,6 +77,16 @@ bool GazeboYarpDepthCameraDriver::open(yarp::os::Searchable &config)
 {
     string sensorScopedName((config.find(YarpScopedName.c_str()).asString().c_str()));
 
+    //Manage depth quantization parameter
+    if(config.check("QUANT_PARAM")) {
+        yarp::os::Property quantCfg;
+        quantCfg.fromString(config.findGroup("QUANT_PARAM").toString());
+        m_depthQuantizationEnabled = true;
+        if (quantCfg.check("depth_quant")) {
+            m_depthDecimalNum = quantCfg.find("depth_quant").asInt32();
+        }
+    }
+
     //Get gazebo pointers
     m_conf.fromString(config.toString());
     m_depthCameraSensorPtr = dynamic_cast<gazebo::sensors::DepthCameraSensor*> (GazeboYarpPlugins::Handler::getHandler()->getSensor(sensorScopedName));
@@ -159,7 +170,7 @@ void GazeboYarpDepthCameraDriver::OnNewImageFrame(const unsigned char* _image, U
 {
     //possible image format (hardcoded (sigh..) in osrf/gazebo/source/gazebo/rendering/Camera.cc )
     /* data type is string. why they didn't use a enum? mystery...
-     * 
+     *
      * L8 = INT8 = 1
      * R8G8B8 = RGB_INT8 = BGR_INT8 = B8G8R8 = 3
      * BAYER_RGGB8 = BAYER_BGGR8 = BAYER_GBRG8 = BAYER_GRBG8 = 1
@@ -406,7 +417,30 @@ bool GazeboYarpDepthCameraDriver::getDepthImage(depthImageType& depthImage, Stam
 
     depthImage.resize(m_width, m_height);
     //depthImage.setPixelCode(m_depthFormat);
-    memcpy(depthImage.getRawImage(), m_depthFrame_Buffer, m_width * m_height * sizeof(float));
+    if(!m_depthQuantizationEnabled) {
+        memcpy(depthImage.getRawImage(), m_depthFrame_Buffer, m_width * m_height * sizeof(float));
+    }
+    else {
+        double nearPlane = m_depthCameraSensorPtr->DepthCamera()->NearClip();
+        double farPlane = m_depthCameraSensorPtr->DepthCamera()->FarClip();
+
+        int intTemp;
+        float value;
+
+        auto pxPtr = reinterpret_cast<float*>(depthImage.getRawImage());
+        for(int i=0; i<m_height*m_width; i++){
+            value = m_depthFrame_Buffer[i];
+
+            intTemp = (int) (value * pow(10.0, (float) m_depthDecimalNum));
+            value = (float) intTemp / pow(10.0, (float) m_depthDecimalNum);
+
+            if (value < nearPlane) { value = nearPlane; }
+            if (value > farPlane) { value = farPlane; }
+
+            *pxPtr = value;
+            pxPtr++;
+        }
+    }
 
     timeStamp->update(this->m_depthCameraSensorPtr->LastUpdateTime().Double());
 
@@ -432,7 +466,7 @@ std::string GazeboYarpDepthCameraDriver::getLastErrorMsg(Stamp* timeStamp)
 {
     if(timeStamp)
     {
-	timeStamp->update(this->m_depthCameraSensorPtr->LastUpdateTime().Double());
+        timeStamp->update(this->m_depthCameraSensorPtr->LastUpdateTime().Double());
 
     }
     return m_error;
diff --git a/plugins/forcetorque/src/ForceTorque.cc b/plugins/forcetorque/src/ForceTorque.cc
index e45acd266..53a0b77a8 100644
--- a/plugins/forcetorque/src/ForceTorque.cc
+++ b/plugins/forcetorque/src/ForceTorque.cc
@@ -82,11 +82,19 @@ void GazeboYarpForceTorque::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sd
     driver_properties.put(YarpForceTorqueScopedName.c_str(), m_sensorName.c_str());
 
     #ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
-    //Open the wrapper
-    //Force the wrapper to be of type "analogServer" (it make sense? probably no)
-    wrapper_properties.put("device","analogServer");
-    if( !m_forcetorqueWrapper.open(wrapper_properties) ) {
-        yError()<<"GazeboYarpForceTorque Plugin failed: error in opening yarp driver wrapper";
+    bool disable_wrapper = driver_properties.check("disableImplicitNetworkWrapper");
+    if (!disable_wrapper) {
+        //Open the wrapper
+        //Force the wrapper to be of type "analogServer" (it make sense? probably no)
+        wrapper_properties.put("device","analogServer");
+        if( !m_forcetorqueWrapper.open(wrapper_properties) ) {
+            yError()<<"GazeboYarpForceTorque Plugin failed: error in opening yarp driver wrapper";
+            return;
+        }
+    }
+    if (disable_wrapper && !driver_properties.check("yarpDeviceName"))
+    {
+        yError() << "GazeboYarpForceTorque : missing yarpDeviceName parameter for device" << m_sensorName;
         return;
     }
     #endif // GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
@@ -101,28 +109,34 @@ void GazeboYarpForceTorque::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sd
     
     std::string scopedDeviceName;
     #ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
-    //Attach the driver to the wrapper
-    ::yarp::dev::PolyDriverList driver_list;
-
-    if( !m_forcetorqueWrapper.view(m_iWrap) ) {
-        yError() << "GazeboYarpForceTorque : error in loading wrapper";
-        return;
+    if (!disable_wrapper) {
+        //Attach the driver to the wrapper
+        ::yarp::dev::PolyDriverList driver_list;
+
+        if( !m_forcetorqueWrapper.view(m_iWrap) ) {
+            yError() << "GazeboYarpForceTorque : error in loading wrapper";
+            return;
+        }
+
+        driver_list.push(&m_forceTorqueDriver,"dummy");
+
+        if( !m_iWrap->attachAll(driver_list) ) {
+            yError() << "GazeboYarpForceTorque : error in connecting wrapper and device ";
+        }
+        
+        if(!driver_properties.check("yarpDeviceName"))
+        {
+            scopedDeviceName = m_sensorName + "::" + driver_list[0]->key;
+        }
+        else
+        {
+            scopedDeviceName = m_sensorName + "::" + driver_properties.find("yarpDeviceName").asString();
+        }
+    } else {
+        scopedDeviceName = m_sensorName + "::" + driver_properties.find("yarpDeviceName").asString();
     }
 
-    driver_list.push(&m_forceTorqueDriver,"dummy");
-
-    if( !m_iWrap->attachAll(driver_list) ) {
-        yError() << "GazeboYarpForceTorque : error in connecting wrapper and device ";
-    }
 
-    if(!driver_properties.check("yarpDeviceName"))
-    {
-        scopedDeviceName = m_sensorName + "::" + driver_list[0]->key;
-    }
-    else
-    {
-        scopedDeviceName = m_sensorName + "::" + driver_properties.find("yarpDeviceName").asString();
-    }
     #else
     if(!driver_properties.check("yarpDeviceName"))
     {
diff --git a/plugins/imu/src/IMU.cc b/plugins/imu/src/IMU.cc
index e825d1516..1cb459b23 100644
--- a/plugins/imu/src/IMU.cc
+++ b/plugins/imu/src/IMU.cc
@@ -84,50 +84,58 @@ void GazeboYarpIMU::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
     GazeboYarpPlugins::Handler::getHandler()->setSensor(_sensor.get());
 
     #ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
-    /*
-    * Open the driver wrapper
-    */
-    //Retrieve wrapper properties
-    ::yarp::os::Bottle MASwrapperProp = m_parameters.findGroup("WRAPPER");
-    if(MASwrapperProp.isNull())
+    bool disable_wrapper = m_parameters.check("disableImplicitNetworkWrapper");
+    if (!disable_wrapper)
     {
-        yWarning("GazeboYarpIMU : [WRAPPER] group not found in config file, maybe you are using the old version of the ini file, please update icub-gazebo\n");
-        yWarning("GazeboYarpIMU : trying to open it with the legacy behaviour device-subdevice");
-        legacy_behaviour = true;
-    }
+        /*
+        * Open the driver wrapper
+        */
+        //Retrieve wrapper properties
+        ::yarp::os::Bottle MASwrapperProp = m_parameters.findGroup("WRAPPER");
+        if(MASwrapperProp.isNull())
+        {
+            yWarning("GazeboYarpIMU : [WRAPPER] group not found in config file, maybe you are using the old version of the ini file, please update icub-gazebo\n");
+            yWarning("GazeboYarpIMU : trying to open it with the legacy behaviour device-subdevice");
+            legacy_behaviour = true;
+        }
 
-    if (legacy_behaviour) {
-        m_parameters.put(YarpIMUScopedName.c_str(), m_scopedSensorName.c_str());
-        m_parameters.put("sensor_name",_sensor->Name());
-        if (!m_imuDriver.open(m_parameters)) {
-            yError() << "GazeboYarpIMU Plugin Load failed: error in opening yarp driver";
+        if (legacy_behaviour) {
+            m_parameters.put(YarpIMUScopedName.c_str(), m_scopedSensorName.c_str());
+            m_parameters.put("sensor_name",_sensor->Name());
+            if (!m_imuDriver.open(m_parameters)) {
+                yError() << "GazeboYarpIMU Plugin Load failed: error in opening yarp driver";
+            }
+            return;
         }
-        return;
-    }
 
-    //Open the driver wrapper
-    if (!m_MASWrapper.open(MASwrapperProp))
-    {
-        yError() << "GazeboYarpIMU Plugin Load failed: error in opening the yarp wrapper";
-    }
+        //Open the driver wrapper
+        if (!m_MASWrapper.open(MASwrapperProp))
+        {
+            yError() << "GazeboYarpIMU Plugin Load failed: error in opening the yarp wrapper";
+        }
 
-    /*
-    * Open the old wrapper
-    */
-    //Retrieve wrapper properties
-    ::yarp::os::Bottle AdditionalWrapperProp = m_parameters.findGroup("ADDITIONAL_WRAPPER");
-    if(AdditionalWrapperProp.isNull())
-    {
-        yError("GazeboYarpIMU : [ADDITIONAL_WRAPPER] group not found in config file\n");
-        return;
-    }
+        /*
+        * Open the old wrapper
+        */
+        //Retrieve wrapper properties
+        ::yarp::os::Bottle AdditionalWrapperProp = m_parameters.findGroup("ADDITIONAL_WRAPPER");
+        if(AdditionalWrapperProp.isNull())
+        {
+            yError("GazeboYarpIMU : [ADDITIONAL_WRAPPER] group not found in config file\n");
+            return;
+        }
 
-    //Open the driver wrapper
-    if (!m_AdditionalWrapper.open(AdditionalWrapperProp))
+        //Open the driver wrapper
+        if (!m_AdditionalWrapper.open(AdditionalWrapperProp))
+        {
+            yError() << "GazeboYarpIMU Plugin Load failed: error in opening the yarp wrapper";
+        }
+    }
+    if (disable_wrapper && !m_parameters.check("yarpDeviceName"))
     {
-        yError() << "GazeboYarpIMU Plugin Load failed: error in opening the yarp wrapper";
+        yError() << "GazeboYarpIMU : missing yarpDeviceName parameter for device" << m_scopedSensorName;
+        return;
     }
-
     #endif // GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
 
     /*
@@ -149,16 +157,19 @@ void GazeboYarpIMU::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
     //Register the device with the given name
     std::string scopedDeviceName;
     #ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
-    //Attach the part driver to the wrapper
-    if(!m_MASWrapper.view(m_iWrap) || (!m_AdditionalWrapper.view(m_iWrapAdditional))){
-        yError()<< "GazeboYarpIMU Plugin Load failed: unable to view iMultipleWrapper interfaces";
-        return;
-    }
     ::yarp::dev::PolyDriverList driverList;
-    driverList.push(&m_imuDriver,"dummy");
-    if(!m_iWrap->attachAll(driverList) || ! m_iWrapAdditional->attachAll(driverList))
+    if (!disable_wrapper) 
     {
-        yError() << "GazeboYarpIMU: error in connecting wrapper and device ";
+        //Attach the part driver to the wrapper
+        if(!m_MASWrapper.view(m_iWrap) || (!m_AdditionalWrapper.view(m_iWrapAdditional))){
+            yError()<< "GazeboYarpIMU Plugin Load failed: unable to view iMultipleWrapper interfaces";
+            return;
+        }
+        driverList.push(&m_imuDriver,"dummy");
+        if(!m_iWrap->attachAll(driverList) || ! m_iWrapAdditional->attachAll(driverList))
+        {
+            yError() << "GazeboYarpIMU: error in connecting wrapper and device ";
+        }
     }
 
     if(!m_parameters.check("yarpDeviceName"))
diff --git a/plugins/lasersensor/src/LaserSensor.cc b/plugins/lasersensor/src/LaserSensor.cc
index bd316ce4f..1b7fa56f8 100644
--- a/plugins/lasersensor/src/LaserSensor.cc
+++ b/plugins/lasersensor/src/LaserSensor.cc
@@ -97,12 +97,20 @@ void GazeboYarpLaserSensor::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sd
     driver_properties.put(YarpLaserSensorScopedName.c_str(), m_sensorName.c_str());
 
     #ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
-    //Open the wrapper
-    wrapper_properties.put("device","Rangefinder2DWrapper");
-    if( m_laserWrapper.open(wrapper_properties) ) {
-    } else
+    bool disable_wrapper = driver_properties.check("disableImplicitNetworkWrapper");
+    if (!disable_wrapper) {
+        //Open the wrapper
+        wrapper_properties.put("device","Rangefinder2DWrapper");
+        if( m_laserWrapper.open(wrapper_properties) ) {
+        } else
+        {
+            yCError(GAZEBOLASER)<<"Plugin failed: error in opening yarp driver wrapper";
+            return;
+        }
+    }
+    if (disable_wrapper && !driver_properties.check("yarpDeviceName"))
     {
-        yCError(GAZEBOLASER)<<"Plugin failed: error in opening yarp driver wrapper";
+        yCError(GAZEBOLASER) << "GazeboYarpLaserSensor : missing yarpDeviceName parameter for device" << m_sensorName;
         return;
     }
     #endif
@@ -118,21 +126,24 @@ void GazeboYarpLaserSensor::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sd
     }
 
     #ifndef GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS
-    //Attach the driver to the wrapper
     ::yarp::dev::PolyDriverList driver_list;
-
-    if( !m_laserWrapper.view(m_iWrap) )
+    if (!disable_wrapper) 
     {
-        yCError(GAZEBOLASER) << "GazeboYarpLaserSensor : error in loading wrapper" ;
-        return;
-    }
+        //Attach the driver to the wrapper
 
-    driver_list.push(&m_laserDriver, "lasersensor");
+        if( !m_laserWrapper.view(m_iWrap) )
+        {
+            yCError(GAZEBOLASER) << "GazeboYarpLaserSensor : error in loading wrapper" ;
+            return;
+        }
 
-    if( m_iWrap->attachAll(driver_list) ) {
-    } else
-    {
-        yCError(GAZEBOLASER) << "GazeboYarpLaserSensor : error in connecting wrapper and device " ;
+        driver_list.push(&m_laserDriver, "lasersensor");
+
+        if( m_iWrap->attachAll(driver_list) ) {
+        } else
+        {
+            yCError(GAZEBOLASER) << "GazeboYarpLaserSensor : error in connecting wrapper and device " ;
+        }
     }
     #endif
 
diff --git a/plugins/worldinterface/src/worldinterface.cpp b/plugins/worldinterface/src/worldinterface.cpp
index b1979c782..c250c562c 100644
--- a/plugins/worldinterface/src/worldinterface.cpp
+++ b/plugins/worldinterface/src/worldinterface.cpp
@@ -12,6 +12,7 @@
 #include <yarp/os/Log.h>
 #include <yarp/os/LogStream.h>
 #include <GazeboYarpPlugins/common.h>
+#include <GazeboYarpPlugins/ConfHelpers.hh>
 
 using namespace gazebo;
 using namespace std;
@@ -54,18 +55,7 @@ void WorldInterface::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
   //pass reference to server
   m_wi_server.attachWorldProxy(&m_proxy);
 
-  //Getting .ini configuration file from sdf
-  bool configuration_loaded = false;
-
-  if (_sdf->HasElement("yarpConfigurationFile")) {
-        std::string ini_file_name = _sdf->Get<std::string>("yarpConfigurationFile");
-        std::string ini_file_path = gazebo::common::SystemPaths::Instance()->FindFileURI(ini_file_name);
-
-        if (ini_file_path != "" && m_parameters.fromConfigFile(ini_file_path.c_str())) {
-            yInfo() << "Found yarpConfigurationFile: loading from " << ini_file_path ;
-            configuration_loaded = true;
-        }
-  }
+  bool configuration_loaded = GazeboYarpPlugins::loadConfigModelPlugin(_model, _sdf, m_parameters);
 
   if (!configuration_loaded) {
     yError() << "WorldInterface::Load error could not load configuration file";
diff --git a/tutorial/model/depthcamera/depthcamera.ini b/tutorial/model/depthcamera/depthcamera.ini
index 472484ff7..50bd733f7 100644
--- a/tutorial/model/depthcamera/depthcamera.ini
+++ b/tutorial/model/depthcamera/depthcamera.ini
@@ -3,3 +3,6 @@ period 30
 imagePort /camera
 depthPort /depthcamera
 name /depthcamera
+
+[QUANT_PARAM]
+depth_quant 2