diff --git a/ergoCubSN001/calibrators/head-calib.xml b/ergoCubSN001/calibrators/head-calib.xml
index 11a920228d..df92605612 100644
--- a/ergoCubSN001/calibrators/head-calib.xml
+++ b/ergoCubSN001/calibrators/head-calib.xml
@@ -20,7 +20,7 @@
         <!-- joint name                         neck-pitch  neck-roll   neck-yaw    eyes-tilt -->
         <group name="CALIBRATION">
             <param name="calibrationType">      12          12          12          12         </param>
-            <param name="calibration1">   	    62951      -44411      61615	    52575      </param>
+            <param name="calibration1">   	    62951      -44411       13160	    28977      </param>
             <param name="calibration2">         0           0           0	        0          </param>
             <param name="calibration3">         0           0           0           0          </param>
 
@@ -49,4 +49,3 @@
         <action phase="interrupt3" level="1" type="abort" />
 
     </device>
-
diff --git a/ergoCubSN001/calibrators/left_arm-calib.xml b/ergoCubSN001/calibrators/left_arm-calib.xml
index fa1384a758..9aa905a2ce 100644
--- a/ergoCubSN001/calibrators/left_arm-calib.xml
+++ b/ergoCubSN001/calibrators/left_arm-calib.xml
@@ -6,32 +6,32 @@
 	<xi:include href="../general.xml" />
 
 	<group name="GENERAL">
-		<param name="joints">13</param>		<!-- the number of joints of the robot part -->
+		<param name="joints">4</param>		<!-- the number of joints of the robot part -->
 		<param name="deviceName"> Left_Arm_Calibrator </param>
 	</group>
 
 	<group name="HOME">
 	<!--                                shoulder-pitch    shoulder-roll    shoulder-yaw    elbow    wrist-yaw    wrist-roll    wrist-pitch    thumb_add    thumb_oc    index_add    index_oc    middle_oc    ring_pinky_oc -->
-		<param name="positionHome">            5                 30              0           10         0            0             0             30.00        0.00        0.00         0.00        0.00           0.00    </param>
-		<param name="velocityHome">            10                10              10          10         10           10            10            40.00        40.00       40.00        40.00       40.00          40.00    </param>
+		<param name="positionHome">            5                 30              0           10    <!--     0            0             0             30.00        0.00        0.00         0.00        0.00           0.00  -->  </param>
+		<param name="velocityHome">            10                10              10          10    <!--    10           10            10            40.00        40.00       40.00        40.00       40.00          40.00  -->  </param>
 	</group>
 	<group name="CALIBRATION">
-		<param name="calibrationType">        10                 10              10          10         12           12            12            12           14          12           14          14             14       </param>
-		<param name="calibration1">           4000               -3000           -3000       4000       17565        8161          21461         0            300         0            300         300            300      </param>
-		<param name="calibration2">	          0                  0               0           0          0            0             0             0            0           0            0           0              0        </param>
-		<param name="calibration3">           0                  0               0           0          0            0             0             0            1           0            0           0              1        </param>
-		<param name="calibration4">           0                  0               0           0          0            0             0             0            32768       0            0           0              0        </param>
-		<param name="calibration5">           0                  0               0           0          0            0             0             0            18277       0            47003       47513          54558    </param>
-		<param name="calibrationZero">        35                -15             -52          -5         0            0             0             0            0           0            0           0              0        </param>
-		<param name="calibrationDelta">       0                  0               0           0          0            0             0             0            0           0            0           0              0        </param>
-		<param name="startupPosition">        34                 50              -10         90         0.0          0.0           0.0           0.0          4.0         0.0          4.0         4.0            4.0      </param>
-		<param name="startupVelocity">        10.0               10.0            10.0        10.0       10.0         10.0          10.0          100.0        100.0       0.0          100         100.0          100.0    </param>
-		<param name="startupMaxPwm">          8000               8000            8000        8000       16000        16000         16000         0            0           0            0           0              0        </param>
-		<param name="startupPosThreshold">    2                  2               2           2          2            2             2             90           5          90            5           5              5        </param>
+		<param name="calibrationType">        10                 10              10          10    <!--     12           12            12            12           14          12           14          14             14    -->   </param>
+		<param name="calibration1">           4000               -3000           -3000       4000  <!--    17565        8161          21461         0            300         0            300         300            300    -->  </param>
+		<param name="calibration2">	          0                  0               0           0     <!--     0            0             0             0            0           0            0           0              0     -->   </param>
+		<param name="calibration3">           0                  0               0           0     <!--     0            0             0             0            1           0            0           0              1     -->  </param>
+		<param name="calibration4">           0                  0               0           0     <!--     0            0             0             0            32768       0            0           0              0     -->   </param>
+		<param name="calibration5">           0                  0               0           0     <!--     0            0             0             0            18277       0            47003       47513          54558 -->   </param>
+		<param name="calibrationZero">        35                -15             -52          -5    <!--     0            0             0             0            0           0            0           0              0     -->   </param>
+		<param name="calibrationDelta">       0                  0               0           0     <!--    0            0             0             0            0           0            0           0              0      -->  </param>
+		<param name="startupPosition">        34                 50              -10         90    <!--     0.0          0.0           0.0           0.0          4.0         0.0          4.0         4.0            4.0   -->   </param>
+		<param name="startupVelocity">        10.0               10.0            10.0        10.0  <!--     10.0         10.0          10.0          100.0        100.0       0.0          100         100.0          100.0 -->   </param>
+		<param name="startupMaxPwm">          8000               8000            8000        8000  <!--     16000        16000         16000         0            0           0            0           0              0     -->   </param>
+		<param name="startupPosThreshold">    2                  2               2           2     <!--     2            2             2             90           5          90            5           5              5     -->   </param>
 	</group>
 
 <!--	<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line -->
-	<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) </param> 
+	<param name="CALIB_ORDER"> (3) (2) (0) (1) </param> 
 
 	<action phase="startup" level="10" type="calibrate">
 		<param name="target">left_arm-mc_remapper</param>
@@ -44,6 +44,3 @@
 	<action phase="interrupt3" level="1" type="abort" />
 
 </device>
-
-
-
diff --git a/ergoCubSN001/calibrators/right_arm-calib.xml b/ergoCubSN001/calibrators/right_arm-calib.xml
index 8bb1555157..36808c3086 100644
--- a/ergoCubSN001/calibrators/right_arm-calib.xml
+++ b/ergoCubSN001/calibrators/right_arm-calib.xml
@@ -6,33 +6,33 @@
 	<xi:include href="../general.xml" />
 
 	<group name="GENERAL">
-		<param name="joints">13</param>		<!-- the number of joints of the robot part -->
+		<param name="joints">4</param>		<!-- the number of joints of the robot part -->
 		<param name="deviceName"> Right_Arm_Calibrator </param>
 	</group>
 
 	<group name="HOME">
 	<!-- For calib6 to set calibration5, i.e. target just multiply desidered pos in deg by 182,044444 (2^(16)/360) -->
     <!--                                shoulder-pitch    shoulder-roll    shoulder-yaw    elbow    wrist-yaw    wrist-roll    wrist-pitch    thumb_add    thumb_oc    index_add    index_oc    middle_oc    ring_pinky_oc -->
-		<param name="positionHome">            5                30              0           10         0             0              0            30.00        0.00        30.00        0.00        0.00        0.00       </param>
-		<param name="velocityHome">            10               10              10          10         10            10             10           40.00        40.00       40.00        40.00       40.00       40.00       </param>
+		<param name="positionHome">            5                30              0           10     <!--    0             0              0            30.00        0.00        30.00        0.00        0.00        0.00    -->   </param>
+		<param name="velocityHome">            10               10              10          10     <!--    10            10             10           40.00        40.00       40.00        40.00       40.00       40.00   -->    </param>
 	</group>
 	<group name="CALIBRATION">
-		<param name="calibrationType">         10                10             10          10         12            12             12           12           14          12           14          14          14          </param>
-		<param name="calibration1">           -4000              3000           3000       -4000       11796         13254          16440        0            300         0            300         300         300         </param>
-		<param name="calibration2">	           0                 0              0           0          0             0              0            0            0           0            0           0           0           </param>
-		<param name="calibration3">            0                 0              0           0          0             0              0            0            1           0            1           0           0           </param>
-		<param name="calibration4">            0                 0              0           0          0             0              0            0            32768       0            0           0           0           </param>
-		<param name="calibration5">            0                 0              0           0          0             0              0            0            2366        0            53484       45147       12415        </param>
-		<param name="calibrationZero">         35               -15            -52         -5          0             0              0            0            0           0            0           0           0           </param>
-		<param name="calibrationDelta">        0                 0              0           0          0             0              0            0            0           0            0           0           0           </param>
-		<param name="startupPosition">         34                50             -10         90         0.0           0.0            0.0          0.0          4.0         0.0          4.0         4.0         4.0         </param>
-		<param name="startupVelocity">         10.0              10.0           10.0        10.0       10.0          10.0           10.0         30.0         30.0        30.0         30.0        30.0        30.0        </param>
-		<param name="startupMaxPwm">           8000              8000           8000        8000       16000         16000          16000        0            0           0            0           0           0           </param>
-		<param name="startupPosThreshold">     2                 2              2           2          2             2              2            90           5           90           5           5           5           </param>
+		<param name="calibrationType">         10                10             10          10     <!--   12            12             12           12           14          12           14          14          14      -->    </param>
+		<param name="calibration1">           -4000              3000           3000       -4000   <!--    11796         13254          16440        0            300         0            300         300         300    -->     </param>
+		<param name="calibration2">	           0                 0              0           0      <!--    0             0              0            0            0           0            0           0           0      -->     </param>
+		<param name="calibration3">            0                 0              0           0      <!--    0             0              0            0            1           0            1           0           0      -->     </param>
+		<param name="calibration4">            0                 0              0           0      <!--    0             0              0            0            32768       0            0           0           0      -->     </param>
+		<param name="calibration5">            0                 0              0           0      <!--    0             0              0            0            2366        0            53484       45147       12415  -->      </param>
+		<param name="calibrationZero">         35               -15            -52         -5      <!--    0             0              0            0            0           0            0           0           0      -->     </param>
+		<param name="calibrationDelta">        0                 0              0           0      <!--    0             0              0            0            0           0            0           0           0      -->     </param>
+		<param name="startupPosition">         34                50             -10         90     <!--    0.0           0.0            0.0          0.0          4.0         0.0          4.0         4.0         4.0    -->     </param>
+		<param name="startupVelocity">         10.0              10.0           10.0        10.0   <!--    10.0          10.0           10.0         30.0         30.0        30.0         30.0        30.0        30.0   -->     </param>
+		<param name="startupMaxPwm">           8000              8000           8000        8000   <!--    16000         16000          16000        0            0           0            0           0           0      -->     </param>
+		<param name="startupPosThreshold">     2                 2              2           2      <!--    2             2              2            90           5           90           5           5           5      -->     </param>
 	</group>
 
 <!--	<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line -->
-	<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) </param>
+	<param name="CALIB_ORDER"> (3) (2) (0) (1) </param>
 
 	
 	<action phase="startup" level="10" type="calibrate">
@@ -46,6 +46,3 @@
 	<action phase="interrupt3" level="1" type="abort" />
 
 </device>
-
-
-
diff --git a/ergoCubSN001/calibrators/torso-calib.xml b/ergoCubSN001/calibrators/torso-calib.xml
index 7866ae5dc4..ecf39c7957 100644
--- a/ergoCubSN001/calibrators/torso-calib.xml
+++ b/ergoCubSN001/calibrators/torso-calib.xml
@@ -21,7 +21,7 @@
 <!--                                                roll                    pitch                  yaw                          -->
 <param name="calibrationType">                      12                      12                     12                      </param>
 
-<param name="calibration1">	                        38354                   67734                  6013                    </param>
+<param name="calibration1">	                        48803                   22272                  26900                    </param>
 <param name="calibration2">                         0                       0                      0                       </param> 
 <param name="calibration3">                         0                       0                      0                       </param> 
                                                                                                    
@@ -52,4 +52,3 @@
 		<action phase="interrupt3" level="1" type="abort" />
 
 	</device>
-
diff --git a/ergoCubSN001/ergocub_all.xml b/ergoCubSN001/ergocub_all.xml
index b71b462a8e..3a5a18c893 100644
--- a/ergoCubSN001/ergocub_all.xml
+++ b/ergoCubSN001/ergocub_all.xml
@@ -9,17 +9,17 @@
 
     <devices>
 
-    <!-- POS4 -->
+    <!-- POS4 
     <xi:include href="wrappers/POS/right_hand-pos_wrapper4.xml" />
     <xi:include href="hardware/POS/right_hand-pos4.xml" />
     <xi:include href="wrappers/POS/left_hand-pos_wrapper4.xml" />
-    <xi:include href="hardware/POS/left_hand-pos4.xml" />
+    <xi:include href="hardware/POS/left_hand-pos4.xml" /> -->
 
-    <!-- POS2 -->
+    <!-- POS2 
     <xi:include href="wrappers/POS/right_hand-pos_wrapper2.xml" />
     <xi:include href="hardware/POS/right_hand-pos2.xml" />
     <xi:include href="wrappers/POS/left_hand-pos_wrapper2.xml" />
-    <xi:include href="hardware/POS/left_hand-pos2.xml" />
+    <xi:include href="hardware/POS/left_hand-pos2.xml" /> -->
 
     <!-- motor controllers wrappers -->
     <xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
@@ -51,16 +51,16 @@
     <!-- LEFT ARM -->
     <xi:include href="hardware/motorControl/left_arm-eb2-j0_1-mc.xml" />
     <xi:include href="hardware/motorControl/left_arm-eb4-j2_3-mc.xml" />
-    <xi:include href="hardware/motorControl/left_arm-eb31-j4_6-mc.xml" />
+   <!-- <xi:include href="hardware/motorControl/left_arm-eb31-j4_6-mc.xml" />
     <xi:include href="hardware/motorControl/left_arm-eb23-j7_10-mc.xml" />
-    <xi:include href="hardware/motorControl/left_arm-eb25-j11_12-mc.xml" />
+    <xi:include href="hardware/motorControl/left_arm-eb25-j11_12-mc.xml" /> -->
 
     <!-- RIGHT ARM -->
     <xi:include href="hardware/motorControl/right_arm-eb1-j0_1-mc.xml" />
     <xi:include href="hardware/motorControl/right_arm-eb3-j2_3-mc.xml" />
-    <xi:include href="hardware/motorControl/right_arm-eb30-j4_6-mc.xml" />
+    <!--<xi:include href="hardware/motorControl/right_arm-eb30-j4_6-mc.xml" />
     <xi:include href="hardware/motorControl/right_arm-eb22-j7_10-mc.xml" />
-    <xi:include href="hardware/motorControl/right_arm-eb24-j11_12-mc.xml" />
+    <xi:include href="hardware/motorControl/right_arm-eb24-j11_12-mc.xml" /> -->
 
     <!-- LEFT LEG -->
     <xi:include href="hardware/motorControl/left_leg-eb8-j0_3-mc.xml" />
@@ -97,21 +97,25 @@
     <xi:include href="hardware/inertials/waist-inertial.xml" />
     <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
 
-    <!-- IMU - MTB4 BOARDS -->
+    <!-- IMU - MTB4 BOARDS 
     <xi:include href="hardware/inertials/left_arm-eb4-j2_3-inertial.xml" />
     <xi:include href="wrappers/inertials/left_arm-inertials_wrapper.xml" />
     <xi:include href="hardware/inertials/right_arm-eb3-j2_3-inertial.xml" />
-    <xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml" /> -->
 
     <!-- FT SENSORS - IMU -->
     <xi:include href="hardware/inertials/left_arm-eb2-j0_1-inertial.xml" />
     <xi:include href="hardware/inertials/right_arm-eb1-j0_1-inertial.xml" />
+    <xi:include href="hardware/inertials/left_leg-eb8-j0_3-inertial.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb6-j0_3-inertial.xml" />
     <xi:include href="hardware/inertials/left_leg-eb9-j4_5-inertial.xml" />
     <xi:include href="hardware/inertials/right_leg-eb7-j4_5-inertial.xml" />
 
     <!-- FT SENSORS - IMU - MULTIPLE ANALOG SENSOR SERVERS -->
     <xi:include href="wrappers/inertials/left_arm-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/right_arm-imu_wrapper.xml" />
+    <xi:include href="wrappers/inertials/left_leg-imu_wrapper.xml" />
+    <xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" />
     
diff --git a/ergoCubSN001/hardware/FT/left_arm-eb2-j0_1-strain.xml b/ergoCubSN001/hardware/FT/left_arm-eb2-j0_1-strain.xml
index ce9c2c6c42..c00f090743 100644
--- a/ergoCubSN001/hardware/FT/left_arm-eb2-j0_1-strain.xml
+++ b/ergoCubSN001/hardware/FT/left_arm-eb2-j0_1-strain.xml
@@ -25,7 +25,7 @@
                     </group>                    
                     <group name="FIRMWARE">
                         <param name="major">            2                       </param>    
-                        <param name="minor">            2                       </param>
+                        <param name="minor">            3                       </param>
                         <param name="build">            0                       </param>
                     </group>
                 </group>
diff --git a/ergoCubSN001/hardware/FT/left_leg-eb8-j0_3-strain.xml b/ergoCubSN001/hardware/FT/left_leg-eb8-j0_3-strain.xml
index 3355b9a6ab..9132769fb5 100644
--- a/ergoCubSN001/hardware/FT/left_leg-eb8-j0_3-strain.xml
+++ b/ergoCubSN001/hardware/FT/left_leg-eb8-j0_3-strain.xml
@@ -16,7 +16,7 @@
             <group name="PROPERTIES">
 
                 <group name="CANBOARDS">
-                    <param name="type">                 strain2            </param>
+                    <param name="type">                 strain2c            </param>
 
                     <group name="PROTOCOL">
                         <param name="major">            2                       </param>
@@ -24,7 +24,7 @@
                     </group>
                     <group name="FIRMWARE">
                         <param name="major">            2                       </param>
-                        <param name="minor">            2                       </param>
+                        <param name="minor">            3                       </param>
                         <param name="build">            0                       </param>
                     </group>
                 </group>
@@ -53,8 +53,3 @@
         </group>
 
   </device>
-
-
-
-
-
diff --git a/ergoCubSN001/hardware/FT/left_leg-eb9-j4_5-strain.xml b/ergoCubSN001/hardware/FT/left_leg-eb9-j4_5-strain.xml
index 4396145c23..628e9202b9 100644
--- a/ergoCubSN001/hardware/FT/left_leg-eb9-j4_5-strain.xml
+++ b/ergoCubSN001/hardware/FT/left_leg-eb9-j4_5-strain.xml
@@ -24,7 +24,7 @@
                     </group>                    
                     <group name="FIRMWARE">
                         <param name="major">            2   		            </param>    
-                        <param name="minor">            2 		            </param>
+                        <param name="minor">            3 		            </param>
                         <param name="build">            0  		       </param>
                     </group>
                 </group>
diff --git a/ergoCubSN001/hardware/FT/right_arm-eb1-j0_1-strain.xml b/ergoCubSN001/hardware/FT/right_arm-eb1-j0_1-strain.xml
index 81627ec384..89ce26f7ab 100644
--- a/ergoCubSN001/hardware/FT/right_arm-eb1-j0_1-strain.xml
+++ b/ergoCubSN001/hardware/FT/right_arm-eb1-j0_1-strain.xml
@@ -25,7 +25,7 @@
                     </group>                    
                     <group name="FIRMWARE">
                         <param name="major">            2                       </param>    
-                        <param name="minor">            2                       </param>
+                        <param name="minor">            3                       </param>
                         <param name="build">            0                       </param>
                     </group>
                 </group>
diff --git a/ergoCubSN001/hardware/FT/right_leg-eb6-j0_3-strain.xml b/ergoCubSN001/hardware/FT/right_leg-eb6-j0_3-strain.xml
index f6095c6150..e87ee22671 100644
--- a/ergoCubSN001/hardware/FT/right_leg-eb6-j0_3-strain.xml
+++ b/ergoCubSN001/hardware/FT/right_leg-eb6-j0_3-strain.xml
@@ -16,7 +16,7 @@
             <group name="PROPERTIES">
 
                 <group name="CANBOARDS">
-                    <param name="type">                 strain2            </param>
+                    <param name="type">                 strain2c            </param>
 
                     <group name="PROTOCOL">
                         <param name="major">            2                       </param>
@@ -24,7 +24,7 @@
                     </group>
                     <group name="FIRMWARE">
                         <param name="major">            2                       </param>
-                        <param name="minor">            2                       </param>
+                        <param name="minor">            3                       </param>
                         <param name="build">            0                       </param>
                     </group>
                 </group>
@@ -54,8 +54,3 @@
 
 
   </device>
-
-
-
-
-
diff --git a/ergoCubSN001/hardware/FT/right_leg-eb7-j4_5-strain.xml b/ergoCubSN001/hardware/FT/right_leg-eb7-j4_5-strain.xml
index e341f9a886..a6ec600b45 100644
--- a/ergoCubSN001/hardware/FT/right_leg-eb7-j4_5-strain.xml
+++ b/ergoCubSN001/hardware/FT/right_leg-eb7-j4_5-strain.xml
@@ -24,7 +24,7 @@
                     </group>                    
                     <group name="FIRMWARE">
                         <param name="major">            2   		            </param>    
-                        <param name="minor">            2  		            </param>
+                        <param name="minor">            3  		            </param>
                         <param name="build">            0  		       </param>
                     </group>
                 </group>
diff --git a/ergoCubSN001/hardware/inertials/head-inertial.xml b/ergoCubSN001/hardware/inertials/head-inertial.xml
index bb91c07b93..6ffecd180b 100644
--- a/ergoCubSN001/hardware/inertials/head-inertial.xml
+++ b/ergoCubSN001/hardware/inertials/head-inertial.xml
@@ -24,7 +24,7 @@
                     </group>
                     <group name="FIRMWARE">
                         <param name="major">            1                   </param>
-                        <param name="minor">            3                   </param>
+                        <param name="minor">            4                   </param>
                         <param name="build">            0                   </param>
                     </group>
                 </group>
@@ -50,5 +50,3 @@
         </group>
 
     </device>
-
-
diff --git a/ergoCubSN001/hardware/inertials/right_arm-eb1-j0_1-inertial.xml b/ergoCubSN001/hardware/inertials/right_arm-eb1-j0_1-inertial.xml
index eb2d0a4e33..756ca53263 100644
--- a/ergoCubSN001/hardware/inertials/right_arm-eb1-j0_1-inertial.xml
+++ b/ergoCubSN001/hardware/inertials/right_arm-eb1-j0_1-inertial.xml
@@ -22,8 +22,8 @@
                     </group>
 
                     <group name="FIRMWARE">
-                        <param name="major">            2                   </param>
-                        <param name="minor">            2                   </param>
+                        <param name="major">            0                   </param>
+                        <param name="minor">            0                   </param>
                         <param name="build">            0                   </param>
                     </group>
                 </group>
diff --git a/ergoCubSN001/hardware/mechanicals/left_arm-eb2-j0_1-mec.xml b/ergoCubSN001/hardware/mechanicals/left_arm-eb2-j0_1-mec.xml
index eeffca733f..fcf47a986b 100644
--- a/ergoCubSN001/hardware/mechanicals/left_arm-eb2-j0_1-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/left_arm-eb2-j0_1-mec.xml
@@ -34,7 +34,7 @@
         <param name="HasRotorEncoder">          1                   1                   </param>
         <param name="HasRotorEncoderIndex">     1                   1                   </param>
         <param name="HasSpeedEncoder">          0                   0                   </param>
-        <param name="RotorIndexOffset">         146                 278                 </param>
+        <param name="RotorIndexOffset">         214                 284                 </param>
         <param name="MotorPoles">               8                   8                   </param>
     </group>
 
diff --git a/ergoCubSN001/hardware/mechanicals/left_arm-eb4-j2_3-mec.xml b/ergoCubSN001/hardware/mechanicals/left_arm-eb4-j2_3-mec.xml
index efac58087f..0f6e73481b 100644
--- a/ergoCubSN001/hardware/mechanicals/left_arm-eb4-j2_3-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/left_arm-eb4-j2_3-mec.xml
@@ -30,11 +30,11 @@
 		<param name="Verbose">          0                   0                   </param>
         <param name="AutoCalibration">          0                   0                   </param>
         <param name="HasHallSensor">            0                   0                   </param>
-        <param name="HasTempSensor">            0                   0                   </param> <!-- pero' ha il sensore di temp, quindi ... metti 1 -->
+        <param name="HasTempSensor">            0                   0                   </param> 
         <param name="HasRotorEncoder">          1                   1                   </param>
         <param name="HasRotorEncoderIndex">     1                   1                   </param>
         <param name="HasSpeedEncoder">          0                   0                   </param>
-        <param name="RotorIndexOffset">         252                 17                   </param>
+        <param name="RotorIndexOffset">         1                   96                  </param>
         <param name="MotorPoles">               8                   8                   </param>
     </group>
 
diff --git a/ergoCubSN001/hardware/mechanicals/right_arm-eb1-j0_1-mec.xml b/ergoCubSN001/hardware/mechanicals/right_arm-eb1-j0_1-mec.xml
index 4081a40c6e..03bb8d87b6 100644
--- a/ergoCubSN001/hardware/mechanicals/right_arm-eb1-j0_1-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/right_arm-eb1-j0_1-mec.xml
@@ -34,7 +34,7 @@
         <param name="HasRotorEncoder">          1                   1                   </param>
         <param name="HasRotorEncoderIndex">     1                   1                   </param>
         <param name="HasSpeedEncoder">          0                   0                   </param>
-        <param name="RotorIndexOffset">         227                 177                 </param>
+        <param name="RotorIndexOffset">         270                 177                 </param>
         <param name="MotorPoles">               8                   8                   </param>
     </group>
 
diff --git a/ergoCubSN001/hardware/mechanicals/right_arm-eb3-j2_3-mec.xml b/ergoCubSN001/hardware/mechanicals/right_arm-eb3-j2_3-mec.xml
index 86293642b6..e495df1732 100644
--- a/ergoCubSN001/hardware/mechanicals/right_arm-eb3-j2_3-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/right_arm-eb3-j2_3-mec.xml
@@ -30,11 +30,11 @@
         <param name="AutoCalibration">          0                   0                   </param>
         <param name="Verbose">                  0                   0                   </param>
         <param name="HasHallSensor">            0                   0                   </param>
-        <param name="HasTempSensor">            0                   0                   </param> <!-- pero' ha il sensore di temp, quindi ... metti 1 -->
+        <param name="HasTempSensor">            0                   0                   </param> 
         <param name="HasRotorEncoder">          1                   1                   </param>
         <param name="HasRotorEncoderIndex">     1                   1                   </param>
         <param name="HasSpeedEncoder">          0                   0                   </param>
-        <param name="RotorIndexOffset">         74                  333                 </param>
+        <param name="RotorIndexOffset">         205                 59                  </param>
         <param name="MotorPoles">               8                   8                   </param>
     </group>
 
diff --git a/ergoCubSN001/hardware/mechanicals/torso-eb5-j0_2-mec.xml b/ergoCubSN001/hardware/mechanicals/torso-eb5-j0_2-mec.xml
index 7243101e6f..7a90a108c9 100644
--- a/ergoCubSN001/hardware/mechanicals/torso-eb5-j0_2-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/torso-eb5-j0_2-mec.xml
@@ -33,7 +33,7 @@
         <param name="HasRotorEncoder">      1                   1                1                  </param>
         <param name="HasRotorEncoderIndex"> 1                   1                1                  </param>
         <param name="HasSpeedEncoder">      0                   0                0                  </param>
-        <param name="RotorIndexOffset">     66                  85               228                </param>
+        <param name="RotorIndexOffset">     155                 134              328                </param>
         <param name="MotorPoles">           8                   8                8                  </param>
    </group>
 
diff --git a/ergoCubSN001/hardware/motorControl/head-eb21-j2_3-mc_service.xml b/ergoCubSN001/hardware/motorControl/head-eb21-j2_3-mc_service.xml
index fa56894b9f..463b689455 100644
--- a/ergoCubSN001/hardware/motorControl/head-eb21-j2_3-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/head-eb21-j2_3-mc_service.xml
@@ -24,10 +24,10 @@
                 </group>
 
                 <group name="ENCODER1">
-                    <param name="type">             aea                 aea        </param>
+                    <param name="type">             aea3                aea3       </param>
                     <param name="port">             CONN:P11            CONN:P10   </param>
                     <param name="position">         atjoint             atjoint    </param>
-                    <param name="resolution">       4096                4096       </param>
+                    <param name="resolution">       16384               16384      </param>
                     <param name="tolerance">        0.703               0.703      </param>
                 </group>
 
@@ -36,7 +36,7 @@
                     <param name="port">             CONN:P3             CONN:P4     </param>
                     <param name="position">         atmotor             atmotor     </param>
                     <param name="resolution">       2048                2048        </param>
-                    <param name="tolerance">         0                0             </param>
+                    <param name="tolerance">         0                  0           </param>
                 </group>
             </group>
 
@@ -46,4 +46,3 @@
 
 
 </params>
-
diff --git a/ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml b/ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml
index 1bb2e06db2..5c20ddb344 100644
--- a/ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml
@@ -21,8 +21,8 @@
                 </group>                    
                 <group name="FIRMWARE">
                     <param name="major">            3           </param>    
-                    <param name="minor">            6           </param> 
-                    <param name="build">            21          </param>
+                    <param name="minor">            3           </param> 
+                    <param name="build">            20          </param>
                 </group>
             </group>
             
@@ -36,7 +36,7 @@
                 </group>
                 
                 <group name="ENCODER1">  
-                    <param name="type">             amo                 amo                 </param>  
+                    <param name="type">             none                none                </param>  
                     <param name="port">             CONN:P6             CONN:P8             </param>
                     <param name="position">         atjoint             atjoint             </param> 
                     <param name="resolution">      -16384               16384               </param>
@@ -47,7 +47,7 @@
                     <param name="type">             roie                roie                </param> 
                     <param name="port">             CAN1:1:0            CAN1:2:0            </param>
                     <param name="position">         atmotor             atmotor             </param>
-                    <param name="resolution">       3600                3600                </param> 
+                    <param name="resolution">       14400               14400               </param> 
                     <param name="tolerance">        3.6                 3.6                 </param>  
                 </group> 
  
@@ -59,4 +59,3 @@
     
   
 </params>
-
diff --git a/ergoCubSN001/hardware/motorControl/left_arm-eb4-j2_3-mc.xml b/ergoCubSN001/hardware/motorControl/left_arm-eb4-j2_3-mc.xml
index 0a7282e929..8e6c11c10a 100644
--- a/ergoCubSN001/hardware/motorControl/left_arm-eb4-j2_3-mc.xml
+++ b/ergoCubSN001/hardware/motorControl/left_arm-eb4-j2_3-mc.xml
@@ -14,8 +14,8 @@
         <param name="jntPosMax">                80                  105                  </param>
         <param name="jntPosMin">                -50                 -3                  </param>
         <param name="jntVelMax">                120                 120                 </param>
-        <param name="motorNominalCurrents">     5000                5000                </param>
-        <param name="motorPeakCurrents">        9000                9000                </param>
+        <param name="motorNominalCurrents">     8000                5000                </param>
+        <param name="motorPeakCurrents">        10000               9000                </param>
         <param name="motorOverloadCurrents">    15000               15000               </param>
         <param name="motorPwmLimit">            8000                8000                </param>
     </group>
@@ -150,6 +150,3 @@
     </group>
 
 </device>
-
-
-
diff --git a/ergoCubSN001/hardware/motorControl/left_arm-eb4-j2_3-mc_service.xml b/ergoCubSN001/hardware/motorControl/left_arm-eb4-j2_3-mc_service.xml
index 0f32c9b5a9..fae3f0b66a 100644
--- a/ergoCubSN001/hardware/motorControl/left_arm-eb4-j2_3-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/left_arm-eb4-j2_3-mc_service.xml
@@ -21,8 +21,8 @@
                 </group>                    
                 <group name="FIRMWARE">
                     <param name="major">            3           </param>    
-                    <param name="minor">            6           </param> 
-                    <param name="build">            21          </param>
+                    <param name="minor">            3           </param> 
+                    <param name="build">            20          </param>
                 </group>
             </group>
             
@@ -47,7 +47,7 @@
                     <param name="type">             roie                roie                </param> 
                     <param name="port">             CAN1:1:0            CAN1:2:0            </param>
                     <param name="position">         atmotor             atmotor             </param>
-                    <param name="resolution">       3600                3600                </param> 
+                    <param name="resolution">       14400               14400               </param> 
                     <param name="tolerance">        3.6                 3.6                 </param>  
                 </group> 
  
@@ -59,4 +59,3 @@
     
   
 </params>
-
diff --git a/ergoCubSN001/hardware/motorControl/left_leg-eb8-j0_3-mc_service.xml b/ergoCubSN001/hardware/motorControl/left_leg-eb8-j0_3-mc_service.xml
index 65ecc9ef4e..d70d5e3204 100644
--- a/ergoCubSN001/hardware/motorControl/left_leg-eb8-j0_3-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/left_leg-eb8-j0_3-mc_service.xml
@@ -21,8 +21,8 @@
                 </group>                    
                 <group name="FIRMWARE">
                     <param name="major">            3           </param>    
-                    <param name="minor">            6           </param> 
-                    <param name="build">            21          </param>
+                    <param name="minor">            3           </param> 
+                    <param name="build">            20          </param>
                 </group>
             </group>
             
@@ -47,7 +47,7 @@
                     <param name="type">             roie                roie       roie       roie       </param>
                     <param name="port">             CAN1:1:0            CAN1:2:0   CAN1:3:0   CAN1:4:0   </param>
                     <param name="position">         atmotor             atmotor    atmotor    atmotor    </param>
-                    <param name="resolution">       3600                3600       3600       3600       </param>
+                    <param name="resolution">       14400               14400      14400      14400      </param>
                     <param name="tolerance">        3.6                 3.6        3.6        3.6        </param>  
                 </group> 
  
diff --git a/ergoCubSN001/hardware/motorControl/left_leg-eb9-j4_5-mc_service.xml b/ergoCubSN001/hardware/motorControl/left_leg-eb9-j4_5-mc_service.xml
index d7d332bea3..81db7df27f 100644
--- a/ergoCubSN001/hardware/motorControl/left_leg-eb9-j4_5-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/left_leg-eb9-j4_5-mc_service.xml
@@ -21,8 +21,8 @@
                 </group>                    
                 <group name="FIRMWARE">
                     <param name="major">            3           </param>    
-                    <param name="minor">            6           </param> 
-                    <param name="build">            21          </param>
+                    <param name="minor">            3           </param> 
+                    <param name="build">            20          </param>
                 </group>
             </group>
             
@@ -46,7 +46,7 @@
                     <param name="type">           roie                roie                </param>
                     <param name="port">           CAN1:1:0            CAN1:2:0            </param>
                     <param name="position">       atmotor             atmotor             </param>
-                    <param name="resolution">     3600                3600                </param>
+                    <param name="resolution">     14400               14400               </param>
                     <param name="tolerance">      3.6                 3.6                 </param>  
                 </group> 
  
diff --git a/ergoCubSN001/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml b/ergoCubSN001/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml
index 3ecb34c356..8b3642f4db 100644
--- a/ergoCubSN001/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml
@@ -21,8 +21,8 @@
                 </group>                    
                 <group name="FIRMWARE">
                     <param name="major">            3           </param>    
-                    <param name="minor">            6           </param> 
-                    <param name="build">            21          </param>
+                    <param name="minor">            3           </param> 
+                    <param name="build">            20          </param>
                 </group>
             </group>
             
@@ -36,7 +36,7 @@
                 </group>
                 
                 <group name="ENCODER1">  
-                    <param name="type">             amo                 amo                 </param>  
+                    <param name="type">             none                none                </param>  
                     <param name="port">             CONN:P6             CONN:P8             </param>
                     <param name="position">         atjoint             atjoint             </param> 
                     <param name="resolution">       16384              -16384               </param>  
@@ -47,7 +47,7 @@
                     <param name="type">             roie                roie                </param> 
                     <param name="port">             CAN1:1:0            CAN1:2:0            </param>
                     <param name="position">         atmotor             atmotor             </param>
-                    <param name="resolution">       3600                3600                </param> 
+                    <param name="resolution">       14400               14400               </param> 
                     <param name="tolerance">        3.6                 3.6                 </param>  
                 </group> 
  
@@ -59,4 +59,3 @@
     
   
 </params>
-
diff --git a/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc.xml b/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc.xml
index f61c86d2ba..cb7f21d499 100644
--- a/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc.xml
+++ b/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc.xml
@@ -14,8 +14,8 @@
         <param name="jntPosMax">                80                  105                  </param>
         <param name="jntPosMin">                -50                 -3                  </param>
         <param name="jntVelMax">                120                 120                 </param>
-        <param name="motorNominalCurrents">     5000                5000                </param>
-        <param name="motorPeakCurrents">        9000                9000                </param>
+        <param name="motorNominalCurrents">     8000                5000                </param>
+        <param name="motorPeakCurrents">        10000               9000                </param>
         <param name="motorOverloadCurrents">    15000               15000               </param>
         <param name="motorPwmLimit">            8000                8000                </param>
     </group>
@@ -152,6 +152,3 @@
     </group>
 
   </device>
-
-
-
diff --git a/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml b/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml
index 87f935c74e..1d57172238 100644
--- a/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml
@@ -21,8 +21,8 @@
                 </group>                    
                 <group name="FIRMWARE">
                     <param name="major">            3           </param>    
-                    <param name="minor">            6           </param> 
-                    <param name="build">            21          </param>
+                    <param name="minor">            3           </param> 
+                    <param name="build">            20          </param>
                 </group>
             </group>
             
@@ -47,7 +47,7 @@
                     <param name="type">             roie                roie                </param> 
                     <param name="port">             CAN1:1:0            CAN1:2:0            </param>
                     <param name="position">         atmotor             atmotor             </param>
-                    <param name="resolution">       3600                3600                </param> 
+                    <param name="resolution">       14400               14400               </param> 
                     <param name="tolerance">        3.6                 3.6                 </param>  
                 </group> 
  
@@ -59,4 +59,3 @@
     
   
 </params>
-
diff --git a/ergoCubSN001/hardware/motorControl/right_leg-eb6-j0_3-mc_service.xml b/ergoCubSN001/hardware/motorControl/right_leg-eb6-j0_3-mc_service.xml
index 16d593de04..cec7dfbfdd 100644
--- a/ergoCubSN001/hardware/motorControl/right_leg-eb6-j0_3-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/right_leg-eb6-j0_3-mc_service.xml
@@ -21,8 +21,8 @@
                 </group>                    
                 <group name="FIRMWARE">
                     <param name="major">            3           </param>    
-                    <param name="minor">            6           </param> 
-                    <param name="build">            21          </param>
+                    <param name="minor">            3           </param> 
+                    <param name="build">            20          </param>
                 </group>
             </group>
             
@@ -47,7 +47,7 @@
                     <param name="type">             roie                roie       roie       roie       </param>
                     <param name="port">             CAN1:1:0            CAN1:2:0   CAN1:3:0   CAN1:4:0   </param>
                     <param name="position">         atmotor             atmotor    atmotor    atmotor    </param>
-                    <param name="resolution">       3600                3600       3600       3600       </param>
+                    <param name="resolution">       14400               14400      14400      14400      </param>
                     <param name="tolerance">        3.6                 3.6        3.6        3.6        </param>  
                 </group> 
  
diff --git a/ergoCubSN001/hardware/motorControl/right_leg-eb7-j4_5-mc_service.xml b/ergoCubSN001/hardware/motorControl/right_leg-eb7-j4_5-mc_service.xml
index e9a2c43de6..cb6cab57af 100644
--- a/ergoCubSN001/hardware/motorControl/right_leg-eb7-j4_5-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/right_leg-eb7-j4_5-mc_service.xml
@@ -21,8 +21,8 @@
                 </group>                    
                 <group name="FIRMWARE">
                     <param name="major">            3           </param>    
-                    <param name="minor">            6           </param> 
-                    <param name="build">            21          </param>
+                    <param name="minor">            3           </param> 
+                    <param name="build">            20          </param>
                 </group>
             </group>
             
@@ -46,7 +46,7 @@
                     <param name="type">         roie                roie                </param>
                     <param name="port">         CAN1:1:0            CAN1:2:0            </param>
                     <param name="position">     atmotor             atmotor             </param>
-                    <param name="resolution">   3600                3600                </param>
+                    <param name="resolution">   14400               14400               </param>
                     <param name="tolerance">    3.6                 3.6                 </param>  
                 </group> 
  
diff --git a/ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc.xml b/ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc.xml
index 666ba04157..1ed4d39ec6 100644
--- a/ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc.xml
+++ b/ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc.xml
@@ -48,9 +48,9 @@
         <param name="outputType">             pwm                   </param>
         <param name="fbkControlUnits">        metric_units          </param>
         <param name="outputControlUnits">     machine_units         </param>
-        <param name="kp">          10000       10000       -1500        </param>
+        <param name="kp">          10000       -10000       -1500        </param>
         <param name="kd">           0           0           0           </param>
-        <param name="ki">           8000        5000       -1000        </param>
+        <param name="ki">           8000        -5000       -1000        </param>
         <param name="maxOutput">   10000       10000        8000        </param>
         <param name="maxInt">      10000        5000        1000        </param>
         <param name="stictionUp">   0           0           0           </param>
@@ -122,5 +122,3 @@
     </group>
 
 </device>
-
-
diff --git a/ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc_service.xml b/ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc_service.xml
index 64d93c565f..ae2eb904ca 100644
--- a/ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc_service.xml
@@ -21,8 +21,8 @@
                 </group>                    
                 <group name="FIRMWARE">
                     <param name="major">            3           </param>    
-                    <param name="minor">            6           </param> 
-                    <param name="build">            21          </param>
+                    <param name="minor">            3           </param> 
+                    <param name="build">            20          </param>
                 </group>
             </group>
             
@@ -48,7 +48,7 @@
                     <param name="type">             roie                roie                roie                </param>
                     <param name="port">             CAN1:2:0            CAN1:3:0            CAN1:1:0            </param>
                     <param name="position">         atmotor             atmotor             atmotor             </param>
-                    <param name="resolution">       3600                3600                3600               </param>
+                    <param name="resolution">       14400               14400               14400               </param>
                     <param name="tolerance">        3.6                 3.6                 3.6                 </param>  
                 </group> 
  
@@ -62,4 +62,3 @@
     
   
 </params>
-
diff --git a/ergoCubSN001/la.xml b/ergoCubSN001/la.xml
index 07893dab00..83a76b50bb 100644
--- a/ergoCubSN001/la.xml
+++ b/ergoCubSN001/la.xml
@@ -9,13 +9,13 @@
 
     <devices>
 
-    <!-- POS4 -->
+    <!-- POS4 
     <xi:include href="wrappers/POS/left_hand-pos_wrapper4.xml" /> 
-    <xi:include href="hardware/POS/left_hand-pos4.xml" />
+    <xi:include href="hardware/POS/left_hand-pos4.xml" /> -->
 
-    <!-- POS2 -->
+    <!-- POS2 
     <xi:include href="wrappers/POS/left_hand-pos_wrapper2.xml" /> 
-    <xi:include href="hardware/POS/left_hand-pos2.xml" />
+    <xi:include href="hardware/POS/left_hand-pos2.xml" /> -->
 
     <!-- motor controllers wrappers -->
     <xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
@@ -25,17 +25,17 @@
     <!-- LEFT ARM -->
     <xi:include href="hardware/motorControl/left_arm-eb2-j0_1-mc.xml" />
     <xi:include href="hardware/motorControl/left_arm-eb4-j2_3-mc.xml" />
-    <xi:include href="hardware/motorControl/left_arm-eb31-j4_6-mc.xml" />
+ <!--   <xi:include href="hardware/motorControl/left_arm-eb31-j4_6-mc.xml" />
     <xi:include href="hardware/motorControl/left_arm-eb23-j7_10-mc.xml" />
-    <xi:include href="hardware/motorControl/left_arm-eb25-j11_12-mc.xml" />
+    <xi:include href="hardware/motorControl/left_arm-eb25-j11_12-mc.xml" /> -->
 
 
     <!--  CALIBRATORS -->
     <xi:include href="calibrators/left_arm-calib.xml" />
 
-    <!-- IMU -->
+    <!-- IMU 
     <xi:include href="hardware/inertials/left_arm-eb4-j2_3-inertial.xml"/>
-    <xi:include href="wrappers/inertials/left_arm-inertials_wrapper.xml"/>
+    <xi:include href="wrappers/inertials/left_arm-inertials_wrapper.xml"/> -->
 
   </devices>
 </robot>
diff --git a/ergoCubSN001/ra.xml b/ergoCubSN001/ra.xml
index 5fd8fda9ce..c4ab909940 100644
--- a/ergoCubSN001/ra.xml
+++ b/ergoCubSN001/ra.xml
@@ -9,13 +9,13 @@
 
     <devices>
 
-    <!-- POS4 -->
+    <!-- POS4 
     <xi:include href="wrappers/POS/right_hand-pos_wrapper4.xml" /> 
-    <xi:include href="hardware/POS/right_hand-pos4.xml" />
+    <xi:include href="hardware/POS/right_hand-pos4.xml" />-->
 
-    <!-- POS2 -->
+    <!-- POS2 
     <xi:include href="wrappers/POS/right_hand-pos_wrapper2.xml" /> 
-    <xi:include href="hardware/POS/right_hand-pos2.xml" />
+    <xi:include href="hardware/POS/right_hand-pos2.xml" />-->
 
     <!-- motor controllers wrappers -->
     <xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
@@ -25,17 +25,17 @@
     <!-- RIGHT ARM -->
     <xi:include href="hardware/motorControl/right_arm-eb1-j0_1-mc.xml" />
     <xi:include href="hardware/motorControl/right_arm-eb3-j2_3-mc.xml" />
-    <xi:include href="hardware/motorControl/right_arm-eb30-j4_6-mc.xml" /> 
+   <!-- <xi:include href="hardware/motorControl/right_arm-eb30-j4_6-mc.xml" /> 
     <xi:include href="hardware/motorControl/right_arm-eb22-j7_10-mc.xml" />
-    <xi:include href="hardware/motorControl/right_arm-eb24-j11_12-mc.xml" />
+    <xi:include href="hardware/motorControl/right_arm-eb24-j11_12-mc.xml" />-->
 
 
     <!--  CALIBRATORS --> 
     <xi:include href="calibrators/right_arm-calib.xml" />
 
-    <!-- IMU -->
+    <!-- IMU 
     <xi:include href="hardware/inertials/right_arm-eb3-j2_3-inertial.xml"/>
-    <xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml"/>
+    <xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml"/>-->
 
   </devices>
 </robot>
diff --git a/ergoCubSN001/wrappers/motorControl/left_arm-mc_remapper.xml b/ergoCubSN001/wrappers/motorControl/left_arm-mc_remapper.xml
index 472a16b1d5..59be41f79b 100644
--- a/ergoCubSN001/wrappers/motorControl/left_arm-mc_remapper.xml
+++ b/ergoCubSN001/wrappers/motorControl/left_arm-mc_remapper.xml
@@ -2,15 +2,15 @@
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_remapper" type="controlboardremapper">
-    <param name="axesNames">(l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch,l_thumb_add,l_thumb_oc,l_index_add,l_index_oc,l_middle_oc,l_ring_pinky_oc)</param>
-    <param name="joints"> 13 </param>
+    <param name="axesNames">(l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow)</param><!--,l_wrist_yaw,l_wrist_roll,l_wrist_pitch,l_thumb_add,l_thumb_oc,l_index_add,l_index_oc,l_middle_oc,l_ring_pinky_oc)</param>-->
+    <param name="joints"> 4 </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
             <elem name="left_arm_joints1"> left_arm-eb2-j0_1-mc   </elem>
             <elem name="left_arm_joints2"> left_arm-eb4-j2_3-mc   </elem>
-            <elem name="left_arm_joints3"> left_arm-eb31-j4_6-mc  </elem>
+          <!--  <elem name="left_arm_joints3"> left_arm-eb31-j4_6-mc  </elem>
             <elem name="left_arm_joints4"> left_arm-eb23-j7_10-mc </elem>
-            <elem name="left_arm_joints5"> left_arm-eb25-j11_12-mc </elem>
+            <elem name="left_arm_joints5"> left_arm-eb25-j11_12-mc </elem> -->
         </paramlist>
     </action>
     <action phase="shutdown" level="20" type="detach" />
diff --git a/ergoCubSN001/wrappers/motorControl/right_arm-mc_remapper.xml b/ergoCubSN001/wrappers/motorControl/right_arm-mc_remapper.xml
index 06e8c6b0f6..6ef3eb0b9f 100644
--- a/ergoCubSN001/wrappers/motorControl/right_arm-mc_remapper.xml
+++ b/ergoCubSN001/wrappers/motorControl/right_arm-mc_remapper.xml
@@ -2,15 +2,15 @@
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_remapper" type="controlboardremapper">
-    <param name="axesNames">(r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch,r_thumb_add,r_thumb_oc,r_index_add,r_index_oc,r_middle_oc,r_ring_pinky_oc)</param>
-    <param name="joints"> 13 </param>
+    <param name="axesNames">(r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow)</param><!--r_wrist_yaw,r_wrist_roll,r_wrist_pitch,r_thumb_add,r_thumb_oc,r_index_add,r_index_oc,r_middle_oc,r_ring_pinky_oc)</param>-->
+    <param name="joints"> 4 </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
             <elem name="right_arm_joints1"> right_arm-eb1-j0_1-mc    </elem>
-            <elem name="right_arm_joints2"> right_arm-eb3-j2_3-mc    </elem>
-            <elem name="right_arm_joints3"> right_arm-eb30-j4_6-mc   </elem>
+            <elem name="right_arm_joints2"> right_arm-eb3-j2_3-mc    </elem>        
+         <!--   <elem name="right_arm_joints3"> right_arm-eb30-j4_6-mc   </elem>
             <elem name="right_arm_joints4"> right_arm-eb22-j7_10-mc  </elem>
-            <elem name="right_arm_joints5"> right_arm-eb24-j11_12-mc </elem>
+            <elem name="right_arm_joints5"> right_arm-eb24-j11_12-mc </elem> -->
         </paramlist>
     </action>
     <action phase="shutdown" level="20" type="detach" />