diff --git a/ergoCubSN000/ergocub_wbd.xml b/ergoCubSN000/ergocub_wbd.xml
index 73fd7b6849..21ae8590cd 100644
--- a/ergoCubSN000/ergocub_wbd.xml
+++ b/ergoCubSN000/ergocub_wbd.xml
@@ -116,6 +116,9 @@
     <xi:include href="hardware/battery/battery.xml" />
     <xi:include href="wrappers/battery/battery.xml" />
 
+    <xi:include href="hardware/battery/battery_bat.xml" />
+    <xi:include href="wrappers/battery/battery_bat.xml" />
+
     <!--  CALIBRATORS -->
     <xi:include href="calibrators/torso-calib.xml" />
     <xi:include href="calibrators/left_leg-calib.xml" />
diff --git a/ergoCubSN000/estimators/wholebodydynamics.xml b/ergoCubSN000/estimators/wholebodydynamics.xml
index be5bd1f681..b5e1f75af7 100644
--- a/ergoCubSN000/estimators/wholebodydynamics.xml
+++ b/ergoCubSN000/estimators/wholebodydynamics.xml
@@ -7,7 +7,7 @@
         <param name="modelFile">model.urdf</param>
         <param name="fixedFrameGravity">(0,0,-9.81)</param>
 	<param name="defaultContactFrames">(l_hand_palm,r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg)</param>
-        <param name="imuFrameName">head_imu_0</param>
+        <param name="imuFrameName">waist_imu_0</param>
         <param name="publishOnROS">true</param>
 	<param name="forceTorqueEstimateConfidence">2</param>
         <param name="useJointVelocity">true</param>
@@ -22,8 +22,8 @@
         <param name="publishNetExternalWrenches">true</param>
 	<!--<param name="assume_fixed">root_link</param>-->
 	<group name="HW_USE_MAS_IMU">
-	    <param name="accelerometer">rfeimu_acc</param>
-	    <param name="gyroscope">rfeimu_gyro</param>
+	    <param name="accelerometer">sensor_imu_xsensmt</param>
+	    <param name="gyroscope">sensor_imu_xsensmt</param>
 	</group>
 
         <group name="multipleAnalogSensorsNames">
@@ -67,7 +67,7 @@
                 <elem name="right_lower_leg-j2">right_leg-eb7-j4_5-mc</elem>
 
                 <!-- imu -->
-                <elem name="imu">head-inertial</elem>
+                <elem name="imu">waist-inertial</elem>
                 <!-- imu_waist -->
 <!--            <elem name="imu">xsensmt-inertial</elem> -->
                 <!-- ft -->
diff --git a/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
index 666ba04157..5c11917d26 100644
--- a/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
+++ b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
@@ -16,9 +16,9 @@
         <param name="jntPosMax">                23                  45                  43                  </param>
         <param name="jntPosMin">                -23                 -18                 -43                 </param>
         <param name="jntVelMax">                120                 120                 120                 </param>
-        <param name="motorNominalCurrents">     3770                16000                5000               </param>
-        <param name="motorPeakCurrents">        14000               17000               10000               </param>
-        <param name="motorOverloadCurrents">    18000               18000               15000               </param>
+        <param name="motorNominalCurrents">     13770               16000               15000               </param>
+        <param name="motorPeakCurrents">        14000               17000               17000               </param>
+        <param name="motorOverloadCurrents">    18000               18000               18000               </param>
         <param name="motorPwmLimit">            16000               16000               16000               </param>
     </group>