diff --git a/iCubGenova01/calibrators/left_arm_calib.xml b/iCubGenova01/calibrators/left_arm_calib.xml
index a502bead8b..df94f29301 100644
--- a/iCubGenova01/calibrators/left_arm_calib.xml
+++ b/iCubGenova01/calibrators/left_arm_calib.xml
@@ -30,11 +30,11 @@
         <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>        
  
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_arm_mc</param>     
+            <param name="target">left_arm_mc_wrapper</param>     
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_arm_mc</param>     
+            <param name="target">left_arm_mc_wrapper</param>     
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubGenova01/calibrators/right_arm_calib.xml b/iCubGenova01/calibrators/right_arm_calib.xml
index fd0796b96a..69bf7acd27 100644
--- a/iCubGenova01/calibrators/right_arm_calib.xml
+++ b/iCubGenova01/calibrators/right_arm_calib.xml
@@ -29,11 +29,11 @@
        <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_arm_mc</param>    
+            <param name="target">right_arm_mc_wrapper</param>    
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_arm_mc</param>    
+            <param name="target">right_arm_mc_wrapper</param>    
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubMunich01/calibrators/left_arm_calib.xml b/iCubMunich01/calibrators/left_arm_calib.xml
index 3d501cde14..33575f5fe3 100644
--- a/iCubMunich01/calibrators/left_arm_calib.xml
+++ b/iCubMunich01/calibrators/left_arm_calib.xml
@@ -17,8 +17,8 @@
 <param name="calibration3">               1969.0125     2492.2625     1586.528      229.775       0             0             0             0             </param>       
 <param name="positionZero">               -30           30            0             45            0             0             0             15            </param>       
 <param name="velocityZero">               10            10            10            10            30            30            30            100           </param>       
-<param name="maxPwm">                     10            10            10            10            30            30            30            100           </param>       
-<param name="posZeroThreshold">           120           120           120           120           0             0             0             0             </param>       
+<param name="maxPwm">                     120           120           120           120           0             0             0             0             </param>       
+<param name="posZeroThreshold">           2             2             2             2             2             2            90            90             </param>       
 </group>       
  
 <group name="HOME">          
@@ -26,14 +26,14 @@
 <param name="velocityHome"> 10            10            10            10            30            30            30            100           </param>       
 </group>       
  
-        <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>        
+        <param name="CALIB_ORDER">(0 1 2 3) (4) (6 7) (5)</param>        
  
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_arm_mc</param>     
+            <param name="target">left_arm_mc_wrapper</param>     
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_arm_mc</param>     
+            <param name="target">left_arm_mc_wrapper</param>     
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubMunich01/calibrators/left_leg_calib.xml b/iCubMunich01/calibrators/left_leg_calib.xml
index 28619162ba..68a3f30ece 100644
--- a/iCubMunich01/calibrators/left_leg_calib.xml
+++ b/iCubMunich01/calibrators/left_leg_calib.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>    
-<devices>      
+<devices robot="iCubMunich01" build="1">     
     <device name="left_leg_calibrator" type="parametricCalibrator">    
  
         <group name="GENERAL">             
diff --git a/iCubMunich01/calibrators/right_arm_calib.xml b/iCubMunich01/calibrators/right_arm_calib.xml
index ba52858b78..e4f80640ed 100644
--- a/iCubMunich01/calibrators/right_arm_calib.xml
+++ b/iCubMunich01/calibrators/right_arm_calib.xml
@@ -26,14 +26,14 @@
 <param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
 </group>       
  
-       <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>         
+       <param name="CALIB_ORDER">(0 1 2 3) (4) (6 7) (5)</param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_arm_mc</param>    
+            <param name="target">right_arm_mc_wrapper</param>    
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_arm_mc</param>    
+            <param name="target">right_arm_mc_wrapper</param>    
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubMunich01/calibrators/right_leg_calib.xml b/iCubMunich01/calibrators/right_leg_calib.xml
index fa19224977..ae38f42b46 100644
--- a/iCubMunich01/calibrators/right_leg_calib.xml
+++ b/iCubMunich01/calibrators/right_leg_calib.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>    
-<devices>      
+<devices robot="iCubMunich01" build="1">       
     <device name="right_leg_calibrator" type="parametricCalibrator">   
                              
         <group name="GENERAL">             
diff --git a/iCubMunich01/hardware/FT/left_leg_strain.xml b/iCubMunich01/hardware/FT/left_leg_strain.xml
index 9b44b56d9b..adb7b26864 100644
--- a/iCubMunich01/hardware/FT/left_leg_strain.xml
+++ b/iCubMunich01/hardware/FT/left_leg_strain.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
 <device type="canBusAnalogSensor" name="left_leg_strain">
 	<param name="canbusDevice"> "sharedcan" </param>
 	<param name="physDevice"> "cfw2can" </param>
diff --git a/iCubMunich01/hardware/FT/right_leg_strain.xml b/iCubMunich01/hardware/FT/right_leg_strain.xml
index 41695f3acd..f6f5356b47 100644
--- a/iCubMunich01/hardware/FT/right_leg_strain.xml
+++ b/iCubMunich01/hardware/FT/right_leg_strain.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
 <device type="canBusAnalogSensor" name="right_leg_strain">
 	<param name="canbusDevice"> "sharedcan" </param>
 	<param name="physDevice"> "cfw2can" </param>
diff --git a/iCubMunich01/hardware/VFT/left_leg_virtual_strain.xml b/iCubMunich01/hardware/VFT/left_leg_virtual_strain.xml
index b767615074..a09938a7a3 100644
--- a/iCubMunich01/hardware/VFT/left_leg_virtual_strain.xml
+++ b/iCubMunich01/hardware/VFT/left_leg_virtual_strain.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
 	<device type="canBusVirtualAnalogSensor" name="left_leg_virtual_strain">
 		<param name="canbusDevice"> "sharedcan" </param>
         <param name="physDevice"> "cfw2can" </param>
diff --git a/iCubMunich01/hardware/VFT/right_leg_virtual_strain.xml b/iCubMunich01/hardware/VFT/right_leg_virtual_strain.xml
index 4972120340..132223e823 100644
--- a/iCubMunich01/hardware/VFT/right_leg_virtual_strain.xml
+++ b/iCubMunich01/hardware/VFT/right_leg_virtual_strain.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
 	<device type="canBusVirtualAnalogSensor" name="right_leg_virtual_strain">
 		<param name="canbusDevice"> "sharedcan" </param>
         <param name="physDevice"> "cfw2can" </param>
diff --git a/iCubMunich01/hardware/motorControl/icub_left_arm.xml b/iCubMunich01/hardware/motorControl/icub_left_arm.xml
index 44e8664b6e..b4ee784429 100644
--- a/iCubMunich01/hardware/motorControl/icub_left_arm.xml
+++ b/iCubMunich01/hardware/motorControl/icub_left_arm.xml
@@ -31,7 +31,7 @@
 <param name="AxisMap">      0             1             2             3             4             5             6             7             </param>       
 <param name="AxisName">    "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow"   "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw"  "l_hand_finger" </param>
 <param name="AxisType">    "revolute"  "revolute"    "revolute"    "revolute"   "revolute"     "revolute"     "revolute"     "revolute"    </param>
-<param name="Encoder">      -11.375       -11.375       -11.375       -11.375       -706.67       -978.46       -978.46       3.5           </param>       
+<param name="Encoder">      -11.375       -11.375       -11.375       -11.375       -706.67       -978.46       -978.46       5.66          </param>       
 <param name="Zeros">        -189          -331          23.25782      -184          90            -13.9         -34.6         305.2941      </param>       
 <param name="TorqueId">     0x0C          0x0C          0x0C          0x0C          0x0C          0             0             0             </param>       
 <param name="TorqueChan">   0             1             2             3             4             0             0             0             </param>       
diff --git a/iCubMunich01/hardware/motorControl/icub_right_arm.xml b/iCubMunich01/hardware/motorControl/icub_right_arm.xml
index 4f722a4450..c1a9d15a1f 100644
--- a/iCubMunich01/hardware/motorControl/icub_right_arm.xml
+++ b/iCubMunich01/hardware/motorControl/icub_right_arm.xml
@@ -31,7 +31,7 @@
 <param name="AxisName"> "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow" "r_wrist_prosup" "r_wrist_pitch" "r_wrist_yaw"  "r_hand_finger"   </param>
 <param name="AxisType">    "revolute"  "revolute"    "revolute"    "revolute"   "revolute"     "revolute"   "revolute"     "revolute"       </param>
 <param name="AxisMap">      0             1             2             3             4             5             6             7             </param>       
-<param name="Encoder">      11.375        11.375        11.375        11.375        706.67        978.46        978.46        3.666667      </param>       
+<param name="Encoder">      11.375        11.375        11.375        11.375        706.67        978.46        978.46        6.66          </param>       
 <param name="Zeros">        170.5         31            224.7422      175           93            -20           -40           255           </param>       
 <param name="TorqueId">     0x0C          0x0C          0x0C          0x0C          0x0C          0             0             0             </param>       
 <param name="TorqueChan">   0             1             2             3             4             0             0             0             </param>       
diff --git a/iCubMunich01/hardware/skin/torso.xml b/iCubMunich01/hardware/skin/torso.xml
index 436f736e00..8bb8d007d4 100644
--- a/iCubMunich01/hardware/skin/torso.xml
+++ b/iCubMunich01/hardware/skin/torso.xml
@@ -6,7 +6,7 @@
   <device name="torso_skin" type="canBusSkin">
       <params file="general.xml" />
 
-	  <params robot="iCubGenova01" build="1">
+	  <params robot="iCubMunich01" build="1">
         <param name="canDeviceNum"> 9         </param>
         <param name="skinCanIds">   7 8 9 10  </param>
         <param name="period"> 10              </param>
diff --git a/iCubMunich01/icub_all.xml b/iCubMunich01/icub_all.xml
index 43b6b63d9a..abf773235b 100644
--- a/iCubMunich01/icub_all.xml
+++ b/iCubMunich01/icub_all.xml
@@ -9,6 +9,8 @@
     <!-- motor controllers wrappers -->
     <devices file="wrappers/motorControl/left_arm_mc_wrapper.xml" />
     <devices file="wrappers/motorControl/right_arm_mc_wrapper.xml" />
+    <devices file="wrappers/motorControl/left_leg_mc_wrapper.xml" />
+    <devices file="wrappers/motorControl/right_leg_mc_wrapper.xml" />
     <devices file="wrappers/motorControl/head_mc_wrapper.xml" />
     <devices file="wrappers/motorControl/torso_mc_wrapper.xml" />
     <devices file="hardware/motorControl/icub_left_arm.xml" />
@@ -48,10 +50,12 @@
     <devices file="hardware/MAIS/right_hand_mais.xml" />
 
     <!-- SKIN -->
-    <!-- <devices file="wrappers/skin/left_arm_skin_wrapper.xml" />
+    <devices file="wrappers/skin/left_arm_skin_wrapper.xml" />
     <devices file="wrappers/skin/right_arm_skin_wrapper.xml" />
+    <devices file="wrappers/skin/torso_skin_wrapper.xml" />  
     <devices file="hardware/skin/left_arm.xml" />
-    <devices file="hardware/skin/right_arm.xml" />  -->
+    <devices file="hardware/skin/right_arm.xml" />  
+    <devices file="hardware/skin/torso.xml" />  
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
     <devices file="hardware/inertial.xml" />
diff --git a/iCubMunich01/wrappers/FT/left_arm_FT_wrapper.xml b/iCubMunich01/wrappers/FT/left_arm_FT_wrapper.xml
index 3d3475fbd6..262f068f25 100644
--- a/iCubMunich01/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/iCubMunich01/wrappers/FT/left_arm_FT_wrapper.xml
@@ -3,7 +3,6 @@
 <devices robot="iCubMunich01" build="1">
 	<device name="left_arm_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_arm				</param>
 		<param name="name">     /icub/left_arm/analog:o			</param>
 
 		<action phase="startup" level="5" type="attach">
diff --git a/iCubMunich01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubMunich01/wrappers/FT/left_leg_FT_wrapper.xml
index f8f57ea279..932d60d967 100644
--- a/iCubMunich01/wrappers/FT/left_leg_FT_wrapper.xml
+++ b/iCubMunich01/wrappers/FT/left_leg_FT_wrapper.xml
@@ -1,8 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
 	<device name="left_leg_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_leg				</param>
 		<param name="name">     /icub/left_leg/analog:o			</param>
 
 		<action phase="startup" level="5" type="attach">
diff --git a/iCubMunich01/wrappers/FT/right_arm_FT_wrapper.xml b/iCubMunich01/wrappers/FT/right_arm_FT_wrapper.xml
index 8ba1fc8a74..3df6a1b429 100644
--- a/iCubMunich01/wrappers/FT/right_arm_FT_wrapper.xml
+++ b/iCubMunich01/wrappers/FT/right_arm_FT_wrapper.xml
@@ -3,7 +3,6 @@
 <devices robot="iCubMunich01" build="1">
 	<device name="right_arm_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_arm				</param>
 		<param name="name">     /icub/right_arm/analog:o		</param>
 
 		<action phase="startup" level="5" type="attach">
diff --git a/iCubMunich01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubMunich01/wrappers/FT/right_leg_FT_wrapper.xml
index 49e0ab1137..3c2630cde0 100644
--- a/iCubMunich01/wrappers/FT/right_leg_FT_wrapper.xml
+++ b/iCubMunich01/wrappers/FT/right_leg_FT_wrapper.xml
@@ -1,9 +1,8 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
 	<device name="right_leg_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_leg				</param>
-		<!-- <param name="name">     /icub/right_leg/analog:o		</param>  -->
+		<param name="name">     /icub/right_leg/analog:o		</param> 
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubMunich01/wrappers/MAIS/left_hand_mais_wrapper.xml b/iCubMunich01/wrappers/MAIS/left_hand_mais_wrapper.xml
index f405131665..5fc3497ca3 100644
--- a/iCubMunich01/wrappers/MAIS/left_hand_mais_wrapper.xml
+++ b/iCubMunich01/wrappers/MAIS/left_hand_mais_wrapper.xml
@@ -3,7 +3,7 @@
 <devices robot="iCubMunich01" build="1">
 	<device name="left_hand_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_hand				</param>
+		<param name="name">     /icub/left_hand/analog:o               </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubMunich01/wrappers/MAIS/right_hand_mais_wrapper.xml b/iCubMunich01/wrappers/MAIS/right_hand_mais_wrapper.xml
index 567425abb2..6ab2492f40 100644
--- a/iCubMunich01/wrappers/MAIS/right_hand_mais_wrapper.xml
+++ b/iCubMunich01/wrappers/MAIS/right_hand_mais_wrapper.xml
@@ -3,7 +3,7 @@
 <devices robot="iCubMunich01" build="1">
 	<device name="right_hand_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_hand				</param>
+		<param name="name">     /icub/right_hand/analog:o               </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubMunich01/wrappers/VFT/left_leg_VFT_wrapper.xml b/iCubMunich01/wrappers/VFT/left_leg_VFT_wrapper.xml
index 875ae8ecb1..955fca121a 100644
--- a/iCubMunich01/wrappers/VFT/left_leg_VFT_wrapper.xml
+++ b/iCubMunich01/wrappers/VFT/left_leg_VFT_wrapper.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
     <device name="left_leg_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
         <param name="deviceId">     left_leg                </param>
diff --git a/iCubMunich01/wrappers/VFT/right_leg_VFT_wrapper.xml b/iCubMunich01/wrappers/VFT/right_leg_VFT_wrapper.xml
index 92b65be74a..84f31e622a 100644
--- a/iCubMunich01/wrappers/VFT/right_leg_VFT_wrapper.xml
+++ b/iCubMunich01/wrappers/VFT/right_leg_VFT_wrapper.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<devices>
+<devices robot="iCubMunich01" build="1">
     <device name="right_leg_VFTserver" type="virtualAnalogServer">
         <param name="period">       10                  </param>
         <param name="deviceId">     right_leg                </param>
diff --git a/iCubMunich01/wrappers/motorControl/head_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/head_mc_wrapper.xml
index ff5803603a..ac8184cd80 100644
--- a/iCubMunich01/wrappers/motorControl/head_mc_wrapper.xml
+++ b/iCubMunich01/wrappers/motorControl/head_mc_wrapper.xml
@@ -15,6 +15,7 @@
       <action phase="startup" level="5" type="attach">
       <paramlist name="networks">
          <elem name="head_joints">  head_mc </elem>
+	 <elem name="Calibrator"> head_calibrator </elem>
       </paramlist>
       </action>
 
diff --git a/iCubMunich01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_arm_mc_wrapper.xml
index e819b0ad31..ab57782d04 100644
--- a/iCubMunich01/wrappers/motorControl/left_arm_mc_wrapper.xml
+++ b/iCubMunich01/wrappers/motorControl/left_arm_mc_wrapper.xml
@@ -16,6 +16,7 @@
       <paramlist name="networks">
 	      <elem name="left_arm_joints">  left_arm_mc </elem>
 	      <elem name="left_hand_joints"> left_hand_mc </elem>
+	      <elem name="Calibrator"> left_arm_calibrator </elem>
         </paramlist>
     </action>
 
diff --git a/iCubMunich01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_leg_mc_wrapper.xml
index 0739883906..0d148fc675 100644
--- a/iCubMunich01/wrappers/motorControl/left_leg_mc_wrapper.xml
+++ b/iCubMunich01/wrappers/motorControl/left_leg_mc_wrapper.xml
@@ -14,6 +14,7 @@
       <action phase="startup" level="5" type="attach">
          <paramlist name="networks">
             <elem name="left_leg_joints">  left_leg_mc </elem>
+	      <elem name="Calibrator"> left_leg_calibrator </elem>
          </paramlist>
       </action>
 
diff --git a/iCubMunich01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_arm_mc_wrapper.xml
index af0b61cbe4..277de3a6a4 100644
--- a/iCubMunich01/wrappers/motorControl/right_arm_mc_wrapper.xml
+++ b/iCubMunich01/wrappers/motorControl/right_arm_mc_wrapper.xml
@@ -16,6 +16,7 @@
 	  <paramlist name="networks">
 	      <elem name="right_arm_joints">  right_arm_mc </elem>
 	      <elem name="right_hand_joints"> right_hand_mc </elem>
+	      <elem name="Calibrator"> right_arm_calibrator </elem>
 	  </paramlist>
       </action>
 
diff --git a/iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml
index e188a7b0d5..978538111d 100644
--- a/iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml
+++ b/iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml
@@ -14,6 +14,7 @@
       <action phase="startup" level="5" type="attach">
 	  <paramlist name="networks">
             <elem name="right_joints">  right_leg_mc </elem>
+	      <elem name="Calibrator"> right_leg_calibrator </elem>
 	  </paramlist>
       </action>
 
diff --git a/iCubMunich01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/torso_mc_wrapper.xml
index a57b695bd6..c225d12ed8 100644
--- a/iCubMunich01/wrappers/motorControl/torso_mc_wrapper.xml
+++ b/iCubMunich01/wrappers/motorControl/torso_mc_wrapper.xml
@@ -15,6 +15,7 @@
       <action phase="startup" level="5" type="attach">
       <paramlist name="networks">
          <elem name="torso_joints">  torso_mc </elem>
+	 <elem name="Calibrator"> torso_calibrator </elem>
       </paramlist>
       </action>
 
diff --git a/iCubMunich01/robotInterface.ini b/iCubMunich01/yarprobotinterface.ini
similarity index 100%
rename from iCubMunich01/robotInterface.ini
rename to iCubMunich01/yarprobotinterface.ini