diff --git a/ergoCubSN001/ergocub_all.xml b/ergoCubSN001/ergocub_all.xml
index 331251cdac..c81c824644 100644
--- a/ergoCubSN001/ergocub_all.xml
+++ b/ergoCubSN001/ergocub_all.xml
@@ -70,9 +70,9 @@
     <xi:include href="hardware/motorControl/right_leg-eb6-j0_3-mc.xml" />
     <xi:include href="hardware/motorControl/right_leg-eb7-j4_5-mc.xml" />
 
-    <!-- FT SENSORS 
+    <!-- FT SENSORS -->
     <xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" />
-    <xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" /> -->
+    <xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" /> 
     <xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" />
     <xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />
     <xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" />
@@ -82,9 +82,9 @@
     <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
     <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
 
-    <!-- FT SENSORS - MULTIPLE ANALOG SENSOR SERVERS 
+    <!-- FT SENSORS - MULTIPLE ANALOG SENSOR SERVERS -->
     <xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" /> -->
+    <xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" /> 
     <xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
     <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
 
@@ -103,17 +103,17 @@
     <xi:include href="hardware/inertials/right_arm-eb3-j2_3-inertial.xml" />
     <xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml" /> -->
 
-    <!-- FT SENSORS - IMU 
+    <!-- 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/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 
+    <!-- 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/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" />
diff --git a/ergoCubSN001/ergocub_wbd.xml b/ergoCubSN001/ergocub_wbd.xml
index ca89763e15..d9b1854f6d 100644
--- a/ergoCubSN001/ergocub_wbd.xml
+++ b/ergoCubSN001/ergocub_wbd.xml
@@ -71,8 +71,8 @@
     <xi:include href="hardware/motorControl/right_leg-eb7-j4_5-mc.xml" />
 
     <!-- FT SENSORS -->
-    <!--xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" />
-    <xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" /-->
+    <xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" />
+    <xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" />
     <xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" />
     <xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />
     <xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" />
@@ -83,8 +83,8 @@
     <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
 
     <!-- FT SENSORS - MULTIPLE ANALOG SENSOR SERVERS -->
-    <!--xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" /-->
+    <xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
+    <xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
     <xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
     <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
 
@@ -104,16 +104,16 @@
     <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_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_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" />
diff --git a/ergoCubSN001/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml b/ergoCubSN001/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml
index 79bfd9c0f4..671a7cc252 100644
--- a/ergoCubSN001/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml
@@ -65,7 +65,7 @@
         <group name="JOINTSET_0">
             <param name="listofjoints">  0 1 2         </param>
             <param name="constraint">    ergocubwrist  </param> <!-- none for calibration -->
-            <param name="param1">        20            </param>
+            <param name="param1">        21            </param>
             <param name="param2">        0             </param>
         </group>
     </group>
diff --git a/ergoCubSN001/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml b/ergoCubSN001/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml
index 715b8f70a4..931123f99f 100644
--- a/ergoCubSN001/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml
@@ -65,7 +65,7 @@
         <group name="JOINTSET_0">
             <param name="listofjoints">  0 1 2         </param>
             <param name="constraint">    ergocubwrist  </param> <!-- none for calibration -->
-            <param name="param1">        20             </param>
+            <param name="param1">        21             </param>
             <param name="param2">        1             </param>
         </group>
     </group>
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 5c20ddb344..009e9a14d3 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
@@ -36,7 +36,7 @@
                 </group>
                 
                 <group name="ENCODER1">  
-                    <param name="type">             none                none                </param>  
+                    <param name="type">             amo                 amo                 </param>  
                     <param name="port">             CONN:P6             CONN:P8             </param>
                     <param name="position">         atjoint             atjoint             </param> 
                     <param name="resolution">      -16384               16384               </param>
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 e94d8afbb5..3f8a2cab23 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
@@ -36,7 +36,7 @@
                 </group>
                 
                 <group name="ENCODER1">  
-                    <param name="type">             none                amo         amo        amo       </param>  
+                    <param name="type">             amo                amo         amo        amo       </param>  
                     <param name="port">             CONN:P6             CONN:P8     CONN:P7    CONN:P9   </param>
                     <param name="position">         atjoint             atjoint     atjoint    atjoint   </param>
                     <param name="resolution">       16384               16384       16384      -16384    </param> 
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 8b3642f4db..2bad970d8b 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
@@ -36,7 +36,7 @@
                 </group>
                 
                 <group name="ENCODER1">  
-                    <param name="type">             none                none                </param>  
+                    <param name="type">             amo                 amo                </param>  
                     <param name="port">             CONN:P6             CONN:P8             </param>
                     <param name="position">         atjoint             atjoint             </param> 
                     <param name="resolution">       16384              -16384               </param>  
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 42b378b9f3..079c0536f7 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
@@ -36,7 +36,7 @@
                 </group>
                 
                 <group name="ENCODER1">  
-                    <param name="type">             none                none                </param>  
+                    <param name="type">             none                amo                 </param>  
                     <param name="port">             CONN:P6             CONN:P8             </param>
                     <param name="position">         atjoint             atjoint             </param> 
                     <param name="resolution">      -16384              -16384               </param>