diff --git a/CMakeLists.txt b/CMakeLists.txt
index 52220a2ff8..dece711c41 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,82 +1,93 @@
+# Copyright: (C) 2016 iCub Facility - Istituto Italiano di Tecnologia
+# Authors: Ugo Pattacini
+# CopyPolicy: Released under the terms of the GNU GPL v2.0.
 
-option(ICUB_INSTALL_ALL_ROBOTS "Enable installation of all robots" OFF)
+cmake_minimum_required(VERSION 2.8.9)
+project(robots-configuration)
 
-set(ROBOT_NAME "$ENV{YARP_ROBOT_NAME}" CACHE PATH
-    "Name of your robot")
+find_package(YARP REQUIRED)
+find_package(ICUBcontrib REQUIRED)
 
+list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH})
+list(APPEND CMAKE_MODULE_PATH ${ICUBCONTRIB_MODULE_PATH})
+
+include(YarpInstallationHelpers)
+include(ICUBcontribOptions)
+include(ICUBcontribHelpers)
+
+option(INSTALL_ALL_ROBOTS "Enable installation of all robots" OFF)
+set(ROBOT_NAME "$ENV{YARP_ROBOT_NAME}" CACHE PATH "Name of your robot")
 set(ROBOT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/${ROBOT_NAME}")
 
-if(ICUB_INSTALL_ALL_ROBOTS) # Install all robot-specific files
-  add_subdirectory(vizzy)
-  add_subdirectory(iCubAberystwyth01)
-  add_subdirectory(iCubAbuDhabi01)
-  add_subdirectory(iCubAnkara01)
-  add_subdirectory(iCubBarcelona01)
-  add_subdirectory(iCubBielefeld01)
-  add_subdirectory(iCubBielefeld02)
-  add_subdirectory(iCubBielefeld03)
-  #add_subdirectory(iCubBremen01)
-  add_subdirectory(iCubChemnitz01)
-  add_subdirectory(iCubDaejeon01)
-  add_subdirectory(iCubEdinburgh01)
-  add_subdirectory(iCubFrankfurt01)
-  add_subdirectory(iCubGenova01)
-  add_subdirectory(iCubGenova03)
-  add_subdirectory(iCubNancy01)
-  add_subdirectory(iCubGrenoble01)
-  add_subdirectory(iCubHamburg01)
-  add_subdirectory(iCubHertfordshire01)
-  add_subdirectory(iCubHertfordshire02)
-  add_subdirectory(iCubKarlsruhe01)
-  add_subdirectory(iCubLausanne01)
-  add_subdirectory(iCubLisboa01)
-  add_subdirectory(iCubLisboa02)
-  add_subdirectory(iCubLondon01)
-  add_subdirectory(iCubLugano01)
-  add_subdirectory(iCubLyon01)
-  add_subdirectory(iCubMunich01)
-  add_subdirectory(Nottingham01)
-  add_subdirectory(iCubOffenbach01)
-  add_subdirectory(iCubOffenbach02)
-  add_subdirectory(iCubOsaka01)
-  add_subdirectory(iCubParis01)
-  add_subdirectory(iCubParis02)
-  add_subdirectory(iCubPlymouth01)
-  add_subdirectory(iCubPlymouth02)
-  add_subdirectory(iCubPrototype01)
-  add_subdirectory(iCubRome01)
-  add_subdirectory(iCubRome02)
-  add_subdirectory(iCubSheffield01)
-  add_subdirectory(iCubTwente01)
-  add_subdirectory(iCubUrbana01)
-  add_subdirectory(iCubZurich01)
-  add_subdirectory(SkinTableTop)  
+if(INSTALL_ALL_ROBOTS)
+    add_subdirectory(iCubAberystwyth01)
+    add_subdirectory(iCubAbuDhabi01)
+    add_subdirectory(iCubAnkara01)
+    add_subdirectory(iCubBarcelona01)
+    add_subdirectory(iCubBielefeld01)
+    add_subdirectory(iCubBielefeld02)
+    add_subdirectory(iCubBielefeld03)
+    add_subdirectory(iCubChemnitz01)
+    add_subdirectory(iCubDaejeon01)
+    add_subdirectory(iCubEdinburgh01)
+    add_subdirectory(iCubFrankfurt01)
+    add_subdirectory(iCubGenova01)
+    add_subdirectory(iCubGenova03)
+    add_subdirectory(iCubNancy01)
+    add_subdirectory(iCubGrenoble01)
+    add_subdirectory(iCubHamburg01)
+    add_subdirectory(iCubHertfordshire01)
+    add_subdirectory(iCubHertfordshire02)
+    add_subdirectory(iCubKarlsruhe01)
+    add_subdirectory(iCubLausanne01)
+    add_subdirectory(iCubLisboa01)
+    add_subdirectory(iCubLisboa02)
+    add_subdirectory(iCubLondon01)
+    add_subdirectory(iCubLugano01)
+    add_subdirectory(iCubLyon01)
+    add_subdirectory(iCubMunich01)
+    add_subdirectory(Nottingham01)
+    add_subdirectory(iCubOffenbach01)
+    add_subdirectory(iCubOffenbach02)
+    add_subdirectory(iCubOsaka01)
+    add_subdirectory(iCubParis01)
+    add_subdirectory(iCubParis02)
+    add_subdirectory(iCubPlymouth01)
+    add_subdirectory(iCubPlymouth02)
+    add_subdirectory(iCubPrototype01)
+    add_subdirectory(iCubRome01)
+    add_subdirectory(iCubRome02)
+    add_subdirectory(iCubSheffield01)
+    add_subdirectory(iCubTwente01)
+    add_subdirectory(iCubUrbana01)
+    add_subdirectory(iCubZurich01)
 else()
-
-  if (ROBOT_NAME)
-    if(IS_DIRECTORY ${ROBOT_DIR})
-      add_subdirectory(${ROBOT_NAME})
+    if(ROBOT_NAME)
+        if(IS_DIRECTORY ${ROBOT_DIR})
+            add_subdirectory(${ROBOT_NAME})
+        endif()
     endif()
-  endif()
 endif()
 
-#setup symbolic link (on UNIX...)
-
-if ("${ROBOT_NAME}" STREQUAL "")
-  message(STATUS "No robot name")
-else ("${ROBOT_NAME}" STREQUAL "")
-  if (EXISTS ${ROBOT_DIR})
-    if(UNIX)
-      message(STATUS "Setting up symbolic link for ${ROBOT_NAME}")
-      install(CODE "execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_INSTALL_PREFIX}/${ICUB_ROBOTS_INSTALL_DIR}/${ROBOT_NAME})\n
-      execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_INSTALL_PREFIX}/${ICUB_ROBOTS_INSTALL_DIR}/${ROBOT_NAME} ${CMAKE_INSTALL_PREFIX}/${ICUB_ROBOTS_INSTALL_DIR}/default)")
-      add_custom_target(robotSymLink ALL COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_BINARY_DIR}/${ICUB_ROBOTS_INSTALL_DIR}/${ROBOT_NAME} ${CMAKE_BINARY_DIR}/${ICUB_ROBOTS_INSTALL_DIR}/default DEPENDS ${CMAKE_BINARY_DIR}/${ICUB_ROBOTS_INSTALL_DIR}/${ROBOT_NAME})      
+# setup symbolic link (on UNIX...)
+if("${ROBOT_NAME}" STREQUAL "")
+    message(STATUS "No robot name")
+else()
+    if(EXISTS ${ROBOT_DIR})
+        if(UNIX)
+            message(STATUS "Setting up symbolic link for ${ROBOT_NAME}")
+            install(CODE "execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_INSTALL_PREFIX}/${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${ROBOT_NAME})\n
+                          execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_INSTALL_PREFIX}/${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${ROBOT_NAME}\n
+                                                                                     ${CMAKE_INSTALL_PREFIX}/${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/default)")
+            add_custom_target(robotSymLink ALL COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_BINARY_DIR}/${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${ROBOT_NAME}
+                                                                                          ${CMAKE_BINARY_DIR}/${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/default
+                                           DEPENDS ${CMAKE_BINARY_DIR}/${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${ROBOT_NAME})
+        else()
+            message(STATUS "Cannot set up symbolic link for ${ROBOT_NAME} on this OS, please set the YARP_ROBOT_NAME environment variable to ${ROBOT_NAME}")
+        endif()
     else()
-      message(STATUS "Cannot set up symbolic link for ${ROBOT_NAME} on this OS, please set the YARP_ROBOT_NAME environment variable to ${ROBOT_NAME}")
+        message(WARNING "ROBOT_NAME is set to ${ROBOT_NAME} but the ${ROBOT_DIR} directory does not exist")
     endif()
+endif()
 
-  else(EXISTS ${ROBOT_DIR})
-    message(WARNING "ROBOT_NAME is set to ${ROBOT_NAME} but the app/robots/${ROBOT_NAME} directory does not exist")
-  endif(EXISTS ${ROBOT_DIR})
-endif ("${ROBOT_NAME}" STREQUAL "")
-
+icubcontrib_add_uninstall_target()
diff --git a/SkinFingertipDemo/CMakeLists.txt b/SkinFingertipDemo/CMakeLists.txt
index 1e1e6a9e81..4829aaf779 100644
--- a/SkinFingertipDemo/CMakeLists.txt
+++ b/SkinFingertipDemo/CMakeLists.txt
@@ -3,9 +3,9 @@ set(appname SkinFingertipDemo)
 file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
 
 
diff --git a/SkinTableTop/CMakeLists.txt b/SkinTableTop/CMakeLists.txt
index 5504117806..6336faf72b 100644
--- a/SkinTableTop/CMakeLists.txt
+++ b/SkinTableTop/CMakeLists.txt
@@ -3,9 +3,9 @@ set(appname SkinTableTop)
 file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
 
 
diff --git a/experimentalSetups/panHead/CMakeLists.txt b/experimentalSetups/panHead/CMakeLists.txt
index 4bd55a493a..1aec8dd15c 100644
--- a/experimentalSetups/panHead/CMakeLists.txt
+++ b/experimentalSetups/panHead/CMakeLists.txt
@@ -4,11 +4,11 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
diff --git a/iCubAberystwyth01/CMakeLists.txt b/iCubAberystwyth01/CMakeLists.txt
index 3fc84e7aa6..5e23f2f7ef 100644
--- a/iCubAberystwyth01/CMakeLists.txt
+++ b/iCubAberystwyth01/CMakeLists.txt
@@ -4,14 +4,14 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
 
diff --git a/iCubAbuDhabi01/CMakeLists.txt b/iCubAbuDhabi01/CMakeLists.txt
index db0db986f2..af815abc10 100644
--- a/iCubAbuDhabi01/CMakeLists.txt
+++ b/iCubAbuDhabi01/CMakeLists.txt
@@ -4,5 +4,5 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
diff --git a/iCubAnkara01/CMakeLists.txt b/iCubAnkara01/CMakeLists.txt
index 96457d293a..4141ec40a0 100644
--- a/iCubAnkara01/CMakeLists.txt
+++ b/iCubAnkara01/CMakeLists.txt
@@ -4,7 +4,7 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
diff --git a/iCubBarcelona01/CMakeLists.txt b/iCubBarcelona01/CMakeLists.txt
index 14cf416600..c9a88946e0 100644
--- a/iCubBarcelona01/CMakeLists.txt
+++ b/iCubBarcelona01/CMakeLists.txt
@@ -4,14 +4,14 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
 
diff --git a/iCubBielefeld01/CMakeLists.txt b/iCubBielefeld01/CMakeLists.txt
index 1076b24900..fb037ab55c 100644
--- a/iCubBielefeld01/CMakeLists.txt
+++ b/iCubBielefeld01/CMakeLists.txt
@@ -4,7 +4,7 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 set(firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${firmware} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${firmware} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
diff --git a/iCubBielefeld02/CMakeLists.txt b/iCubBielefeld02/CMakeLists.txt
index 994c64bd42..2ee410cb59 100644
--- a/iCubBielefeld02/CMakeLists.txt
+++ b/iCubBielefeld02/CMakeLists.txt
@@ -4,7 +4,7 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
diff --git a/iCubBielefeld03/CMakeLists.txt b/iCubBielefeld03/CMakeLists.txt
index 2dee450f9d..b9045a89f5 100644
--- a/iCubBielefeld03/CMakeLists.txt
+++ b/iCubBielefeld03/CMakeLists.txt
@@ -4,8 +4,8 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 set(firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${firmware} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${firmware} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
diff --git a/iCubChemnitz01/CMakeLists.txt b/iCubChemnitz01/CMakeLists.txt
index 21359bb2bc..6aabf309ee 100644
--- a/iCubChemnitz01/CMakeLists.txt
+++ b/iCubChemnitz01/CMakeLists.txt
@@ -2,11 +2,11 @@ set(appname iCubChemnitz01)
 
 set(scripts icub_all.xml firmwareUpdate.txt yarprobotinterface.ini)
 
-yarp_install(FILES ${scripts}   DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${dragonFly} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts}   DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${dragonFly} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
diff --git a/iCubDaejeon01/CMakeLists.txt b/iCubDaejeon01/CMakeLists.txt
index 5d4f48d577..a955c436ab 100644
--- a/iCubDaejeon01/CMakeLists.txt
+++ b/iCubDaejeon01/CMakeLists.txt
@@ -4,13 +4,13 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubDarmstadt01/CMakeLists.txt b/iCubDarmstadt01/CMakeLists.txt
index 87b46e795f..aca81ff99d 100644
--- a/iCubDarmstadt01/CMakeLists.txt
+++ b/iCubDarmstadt01/CMakeLists.txt
@@ -2,10 +2,10 @@ set(appname iCubDarmstadt01)
 
 set(scripts icub_all.xml yarprobotinterface.ini general.xml)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubEdinburgh01/CMakeLists.txt b/iCubEdinburgh01/CMakeLists.txt
index 8b90d7e16c..a58c1ca814 100644
--- a/iCubEdinburgh01/CMakeLists.txt
+++ b/iCubEdinburgh01/CMakeLists.txt
@@ -4,11 +4,11 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
diff --git a/iCubFrankfurt01/CMakeLists.txt b/iCubFrankfurt01/CMakeLists.txt
index f92c46cbac..2b58ca2f5e 100644
--- a/iCubFrankfurt01/CMakeLists.txt
+++ b/iCubFrankfurt01/CMakeLists.txt
@@ -4,8 +4,8 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 set(firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${firmware} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${firmware} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
diff --git a/iCubGenova01/CMakeLists.txt b/iCubGenova01/CMakeLists.txt
index 7010f863e0..bda8749e20 100644
--- a/iCubGenova01/CMakeLists.txt
+++ b/iCubGenova01/CMakeLists.txt
@@ -4,12 +4,12 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
diff --git a/iCubGenova02/CMakeLists.txt b/iCubGenova02/CMakeLists.txt
index 5178f9197e..c9db064df3 100644
--- a/iCubGenova02/CMakeLists.txt
+++ b/iCubGenova02/CMakeLists.txt
@@ -2,11 +2,11 @@ set(appname iCubGenova02)
 
 set(scripts icub_all.xml yarprobotinterface.ini general.xml iKinGazeCtrl.ini icubEyes.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubGenova03/CMakeLists.txt b/iCubGenova03/CMakeLists.txt
index 59fdec0e33..2dfc7559d1 100644
--- a/iCubGenova03/CMakeLists.txt
+++ b/iCubGenova03/CMakeLists.txt
@@ -4,11 +4,11 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
diff --git a/iCubGenova06/CMakeLists.txt b/iCubGenova06/CMakeLists.txt
index b6165e2193..242a43e660 100644
--- a/iCubGenova06/CMakeLists.txt
+++ b/iCubGenova06/CMakeLists.txt
@@ -2,10 +2,10 @@ set(appname iCubGenova06)
 
 set(scripts icub_all.xml yarprobotinterface.ini general.xml icubEyes.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubGrenoble01/CMakeLists.txt b/iCubGrenoble01/CMakeLists.txt
index 7e29009c85..d5188b75de 100644
--- a/iCubGrenoble01/CMakeLists.txt
+++ b/iCubGrenoble01/CMakeLists.txt
@@ -4,12 +4,12 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
diff --git a/iCubHamburg01/CMakeLists.txt b/iCubHamburg01/CMakeLists.txt
index face275a21..ac67007538 100644
--- a/iCubHamburg01/CMakeLists.txt
+++ b/iCubHamburg01/CMakeLists.txt
@@ -4,7 +4,7 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
diff --git a/iCubHeidelberg01/CMakeLists.txt b/iCubHeidelberg01/CMakeLists.txt
index f9ee4d812e..afe72b7c87 100644
--- a/iCubHeidelberg01/CMakeLists.txt
+++ b/iCubHeidelberg01/CMakeLists.txt
@@ -3,11 +3,11 @@ set(appname iCubHeidelberg01)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
   
diff --git a/iCubHertfordshire01/CMakeLists.txt b/iCubHertfordshire01/CMakeLists.txt
index 8e43ce46c0..83679e80b9 100644
--- a/iCubHertfordshire01/CMakeLists.txt
+++ b/iCubHertfordshire01/CMakeLists.txt
@@ -4,13 +4,13 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubHertfordshire02/CMakeLists.txt b/iCubHertfordshire02/CMakeLists.txt
index 82804e7b9e..91a4836470 100644
--- a/iCubHertfordshire02/CMakeLists.txt
+++ b/iCubHertfordshire02/CMakeLists.txt
@@ -3,12 +3,12 @@ set(appname iCubHertfordshire02)
 set(scripts icub_all.xml firmwareUpdate.txt yarprobotinterface.ini)
 set(dragonFly2  dragonfly2_config_left.ini dragonfly2_config_right.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${dragonFly} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${dragonFly} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubKarlsruhe01/CMakeLists.txt b/iCubKarlsruhe01/CMakeLists.txt
index 0d61927fee..2bd22c749b 100644
--- a/iCubKarlsruhe01/CMakeLists.txt
+++ b/iCubKarlsruhe01/CMakeLists.txt
@@ -4,6 +4,6 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
 
diff --git a/iCubLausanne01/CMakeLists.txt b/iCubLausanne01/CMakeLists.txt
index fa57ab716e..fce0ae857e 100644
--- a/iCubLausanne01/CMakeLists.txt
+++ b/iCubLausanne01/CMakeLists.txt
@@ -4,14 +4,14 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
 
diff --git a/iCubLisboa01/CMakeLists.txt b/iCubLisboa01/CMakeLists.txt
index 644b77888f..154e31d9d3 100644
--- a/iCubLisboa01/CMakeLists.txt
+++ b/iCubLisboa01/CMakeLists.txt
@@ -4,14 +4,14 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
 
diff --git a/iCubLisboa02/CMakeLists.txt b/iCubLisboa02/CMakeLists.txt
index 626e9bd17f..9b9dc78e03 100644
--- a/iCubLisboa02/CMakeLists.txt
+++ b/iCubLisboa02/CMakeLists.txt
@@ -4,8 +4,8 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubLondon01/CMakeLists.txt b/iCubLondon01/CMakeLists.txt
index 7f2a09c519..1d414d6fcf 100644
--- a/iCubLondon01/CMakeLists.txt
+++ b/iCubLondon01/CMakeLists.txt
@@ -4,14 +4,14 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
 
diff --git a/iCubLugano01/CMakeLists.txt b/iCubLugano01/CMakeLists.txt
index e776f49840..ea19cfdfac 100644
--- a/iCubLugano01/CMakeLists.txt
+++ b/iCubLugano01/CMakeLists.txt
@@ -4,14 +4,14 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
 
diff --git a/iCubLyon01/CMakeLists.txt b/iCubLyon01/CMakeLists.txt
index 0cf51c9adc..f1e7184ab4 100644
--- a/iCubLyon01/CMakeLists.txt
+++ b/iCubLyon01/CMakeLists.txt
@@ -4,14 +4,14 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
 
diff --git a/iCubMunich01/CMakeLists.txt b/iCubMunich01/CMakeLists.txt
index f5eec7b825..94c098bc84 100644
--- a/iCubMunich01/CMakeLists.txt
+++ b/iCubMunich01/CMakeLists.txt
@@ -4,14 +4,14 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
 
diff --git a/iCubNancy01/CMakeLists.txt b/iCubNancy01/CMakeLists.txt
index c8a60c629c..f1f39bc564 100644
--- a/iCubNancy01/CMakeLists.txt
+++ b/iCubNancy01/CMakeLists.txt
@@ -2,12 +2,12 @@ set(appname iCubNancy01)
 
 set(scripts icub_all.xml yarprobotinterface.ini general.xml iKinGazeCtrl.ini icubEyes.ini pf3dTracker.ini cartesianSolver.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${dragonFly} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${dragonFly} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubNottingham01/CMakeLists.txt b/iCubNottingham01/CMakeLists.txt
index 1c3e494e2d..e7c4cd4c23 100644
--- a/iCubNottingham01/CMakeLists.txt
+++ b/iCubNottingham01/CMakeLists.txt
@@ -2,11 +2,11 @@ set(appname iCubNottingham01)
 
 set(scripts icub_all.xml yarprobotinterface.ini general.xml iKinGazeCtrl.ini icubEyes.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubOffenbach01/CMakeLists.txt b/iCubOffenbach01/CMakeLists.txt
index 1d1550426c..615f9ede32 100644
--- a/iCubOffenbach01/CMakeLists.txt
+++ b/iCubOffenbach01/CMakeLists.txt
@@ -4,7 +4,7 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
diff --git a/iCubOffenbach02/CMakeLists.txt b/iCubOffenbach02/CMakeLists.txt
index e1e54fd36e..71468735bc 100644
--- a/iCubOffenbach02/CMakeLists.txt
+++ b/iCubOffenbach02/CMakeLists.txt
@@ -4,8 +4,8 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubOsaka01/CMakeLists.txt b/iCubOsaka01/CMakeLists.txt
index d2ae348262..94fbbba537 100644
--- a/iCubOsaka01/CMakeLists.txt
+++ b/iCubOsaka01/CMakeLists.txt
@@ -4,12 +4,12 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
diff --git a/iCubParis01/CMakeLists.txt b/iCubParis01/CMakeLists.txt
index beefad6161..a8c87eb948 100644
--- a/iCubParis01/CMakeLists.txt
+++ b/iCubParis01/CMakeLists.txt
@@ -4,14 +4,14 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
 
diff --git a/iCubParis02/CMakeLists.txt b/iCubParis02/CMakeLists.txt
index 08f0c1f3f3..b3f0cd00ad 100644
--- a/iCubParis02/CMakeLists.txt
+++ b/iCubParis02/CMakeLists.txt
@@ -4,12 +4,12 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
diff --git a/iCubPlymouth01/CMakeLists.txt b/iCubPlymouth01/CMakeLists.txt
index 917a28a27e..8dc4b5e608 100644
--- a/iCubPlymouth01/CMakeLists.txt
+++ b/iCubPlymouth01/CMakeLists.txt
@@ -4,11 +4,11 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
diff --git a/iCubPlymouth02/CMakeLists.txt b/iCubPlymouth02/CMakeLists.txt
index cd252c3e46..911a5f8128 100644
--- a/iCubPlymouth02/CMakeLists.txt
+++ b/iCubPlymouth02/CMakeLists.txt
@@ -2,11 +2,11 @@ set(appname iCubPlymouth02)
 
 set(scripts icub_all.xml yarprobotinterface.ini general.xml icubEyes.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
 
diff --git a/iCubPrototype01/CMakeLists.txt b/iCubPrototype01/CMakeLists.txt
index 1504c70098..38b6082f55 100644
--- a/iCubPrototype01/CMakeLists.txt
+++ b/iCubPrototype01/CMakeLists.txt
@@ -4,7 +4,7 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubRome01/CMakeLists.txt b/iCubRome01/CMakeLists.txt
index 007d2449fc..4a48c9955f 100644
--- a/iCubRome01/CMakeLists.txt
+++ b/iCubRome01/CMakeLists.txt
@@ -4,8 +4,8 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubRome02/CMakeLists.txt b/iCubRome02/CMakeLists.txt
index 39c961ba2d..704f0972c2 100644
--- a/iCubRome02/CMakeLists.txt
+++ b/iCubRome02/CMakeLists.txt
@@ -4,8 +4,8 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubSheffield01/CMakeLists.txt b/iCubSheffield01/CMakeLists.txt
index 8b7f721e29..b70a22b7c5 100644
--- a/iCubSheffield01/CMakeLists.txt
+++ b/iCubSheffield01/CMakeLists.txt
@@ -2,11 +2,11 @@ set(appname iCubSheffield01)
 
 set(scripts icub_all.xml yarprobotinterface.ini general.xml iKinGazeCtrl.ini icubEyes.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubTemplateV1_2/CMakeLists_template.txt b/iCubTemplateV1_2/CMakeLists_template.txt
index 82e396f3d4..a8035bdced 100644
--- a/iCubTemplateV1_2/CMakeLists_template.txt
+++ b/iCubTemplateV1_2/CMakeLists_template.txt
@@ -3,7 +3,7 @@ set(appname iCubRobotName01)
 file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
diff --git a/iCubTemplateV1_3/CMakeLists_template.txt b/iCubTemplateV1_3/CMakeLists_template.txt
index 086ccbdee5..582e1bca19 100644
--- a/iCubTemplateV1_3/CMakeLists_template.txt
+++ b/iCubTemplateV1_3/CMakeLists_template.txt
@@ -3,7 +3,7 @@ set(appname iCubRobotName01)
 file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)                    
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})                    
 
diff --git a/iCubTemplateV1_3_1/CMakeLists_template.txt b/iCubTemplateV1_3_1/CMakeLists_template.txt
index be1a3b9bc7..1530e73268 100644
--- a/iCubTemplateV1_3_1/CMakeLists_template.txt
+++ b/iCubTemplateV1_3_1/CMakeLists_template.txt
@@ -3,7 +3,7 @@ set(appname iCubRobotName01)
 file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)         
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})         
 
diff --git a/iCubTemplateV1_4/CMakeLists_template.txt b/iCubTemplateV1_4/CMakeLists_template.txt
index 4da2e2af63..08f90a9406 100644
--- a/iCubTemplateV1_4/CMakeLists_template.txt
+++ b/iCubTemplateV1_4/CMakeLists_template.txt
@@ -3,7 +3,7 @@ set(appname iCubRobotName01)
 file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)                   
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})                   
 
diff --git a/iCubTemplateV1_7/CMakeLists.txt b/iCubTemplateV1_7/CMakeLists.txt
index 61a0c6709c..ee3d007fdb 100644
--- a/iCubTemplateV1_7/CMakeLists.txt
+++ b/iCubTemplateV1_7/CMakeLists.txt
@@ -4,8 +4,8 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubTemplate_RI/CMakeLists.txt b/iCubTemplate_RI/CMakeLists.txt
index 4974e987b8..033c05fb73 100644
--- a/iCubTemplate_RI/CMakeLists.txt
+++ b/iCubTemplate_RI/CMakeLists.txt
@@ -4,14 +4,14 @@ file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 set(whatsleft firmwareUpdate.txt)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
 
diff --git a/iCubTwente01/CMakeLists.txt b/iCubTwente01/CMakeLists.txt
index daeeda32e5..8b74858be2 100755
--- a/iCubTwente01/CMakeLists.txt
+++ b/iCubTwente01/CMakeLists.txt
@@ -2,11 +2,11 @@ set(appname iCubTwente01)
 
 set(scripts icub_all.xml yarprobotinterface.ini general.xml iKinGazeCtrl.ini icubEyes.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY cartesian DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubUrbana01/CMakeLists.txt b/iCubUrbana01/CMakeLists.txt
index 46282a4099..48547efa3a 100644
--- a/iCubUrbana01/CMakeLists.txt
+++ b/iCubUrbana01/CMakeLists.txt
@@ -4,8 +4,8 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
diff --git a/iCubZurich01/CMakeLists.txt b/iCubZurich01/CMakeLists.txt
index 0336aac92e..4966d9472c 100644
--- a/iCubZurich01/CMakeLists.txt
+++ b/iCubZurich01/CMakeLists.txt
@@ -4,9 +4,9 @@ file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.xml)
 file(GLOB firmware ${CMAKE_CURRENT_SOURCE_DIR}/scripts/firmwareUpdate.txt)
 file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
 
-yarp_install(FILES ${scripts} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
-yarp_install(FILES ${conf} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY conf/camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}/scripts)
+yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY conf/camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
 
 
 
diff --git a/vizzy/CMakeLists.txt b/vizzy/CMakeLists.txt
index 700af6dc29..46c871a831 100644
--- a/vizzy/CMakeLists.txt
+++ b/vizzy/CMakeLists.txt
@@ -3,10 +3,10 @@ set(appname vizzy)
 file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
 file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
 
-yarp_install(FILES ${xml} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)
-yarp_install(DIRECTORY hardware DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE)  
-yarp_install(DIRECTORY camera DESTINATION ${ICUB_ROBOTS_INSTALL_DIR}/${appname} PATTERN .svn EXCLUDE) 
+yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})  
+yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})