diff --git a/src/WalkingModule/app/robots/iCubGazeboV2_5/dcm_walking/common/forceTorqueSensors.ini b/src/WalkingModule/app/robots/iCubGazeboV2_5/dcm_walking/common/forceTorqueSensors.ini
index 3326b621..5590bb48 100644
--- a/src/WalkingModule/app/robots/iCubGazeboV2_5/dcm_walking/common/forceTorqueSensors.ini
+++ b/src/WalkingModule/app/robots/iCubGazeboV2_5/dcm_walking/common/forceTorqueSensors.ini
@@ -1,6 +1,6 @@
 # name of the left and right feet wrench ports
-leftFootWrenchInputPort_name     /leftFootWrench:i
-rightFootWrenchInputPort_name    /rightFootWrench:i
+left_foot_wrench_input_port_name     ("/left_foot/cartesianEndEffectorWrench:i")
+left_foot_wrench_output_port_name    ("/wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o")
 
-leftFootWrenchOutputPort_name     /wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o
-rightFootWrenchOutputPort_name    /wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o
+right_foot_wrench_input_port_name    ("/right_foot/cartesianEndEffectorWrench:i")
+right_foot_wrench_output_port_name   ("/wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o")
diff --git a/src/WalkingModule/app/robots/iCubGenova04/dcm_walking/common/forceTorqueSensors.ini b/src/WalkingModule/app/robots/iCubGenova04/dcm_walking/common/forceTorqueSensors.ini
index 3326b621..5590bb48 100644
--- a/src/WalkingModule/app/robots/iCubGenova04/dcm_walking/common/forceTorqueSensors.ini
+++ b/src/WalkingModule/app/robots/iCubGenova04/dcm_walking/common/forceTorqueSensors.ini
@@ -1,6 +1,6 @@
 # name of the left and right feet wrench ports
-leftFootWrenchInputPort_name     /leftFootWrench:i
-rightFootWrenchInputPort_name    /rightFootWrench:i
+left_foot_wrench_input_port_name     ("/left_foot/cartesianEndEffectorWrench:i")
+left_foot_wrench_output_port_name    ("/wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o")
 
-leftFootWrenchOutputPort_name     /wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o
-rightFootWrenchOutputPort_name    /wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o
+right_foot_wrench_input_port_name    ("/right_foot/cartesianEndEffectorWrench:i")
+right_foot_wrench_output_port_name   ("/wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o")
diff --git a/src/WalkingModule/app/robots/icubGazeboSim/dcm_walking/common/forceTorqueSensors.ini b/src/WalkingModule/app/robots/icubGazeboSim/dcm_walking/common/forceTorqueSensors.ini
index 3326b621..5590bb48 100644
--- a/src/WalkingModule/app/robots/icubGazeboSim/dcm_walking/common/forceTorqueSensors.ini
+++ b/src/WalkingModule/app/robots/icubGazeboSim/dcm_walking/common/forceTorqueSensors.ini
@@ -1,6 +1,6 @@
 # name of the left and right feet wrench ports
-leftFootWrenchInputPort_name     /leftFootWrench:i
-rightFootWrenchInputPort_name    /rightFootWrench:i
+left_foot_wrench_input_port_name     ("/left_foot/cartesianEndEffectorWrench:i")
+left_foot_wrench_output_port_name    ("/wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o")
 
-leftFootWrenchOutputPort_name     /wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o
-rightFootWrenchOutputPort_name    /wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o
+right_foot_wrench_input_port_name    ("/right_foot/cartesianEndEffectorWrench:i")
+right_foot_wrench_output_port_name   ("/wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o")