diff --git a/RobotInterfaceCanTest/control_and_strain1.xml b/RobotInterfaceCanTest/control_and_strain1.xml
index 98e1001faa..5b7ded2a55 100644
--- a/RobotInterfaceCanTest/control_and_strain1.xml
+++ b/RobotInterfaceCanTest/control_and_strain1.xml
@@ -12,7 +12,7 @@
 
 	<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">
 		    <paramlist name="networks">
diff --git a/RobotInterfaceCanTest/control_and_strain2.xml b/RobotInterfaceCanTest/control_and_strain2.xml
index 08a2c41c8a..0955c0280e 100644
--- a/RobotInterfaceCanTest/control_and_strain2.xml
+++ b/RobotInterfaceCanTest/control_and_strain2.xml
@@ -12,7 +12,7 @@
 
 	<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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/RobotInterfaceCanTest/control_and_strain3.xml b/RobotInterfaceCanTest/control_and_strain3.xml
index 6de0616253..b9397d701f 100644
--- a/RobotInterfaceCanTest/control_and_strain3.xml
+++ b/RobotInterfaceCanTest/control_and_strain3.xml
@@ -12,7 +12,7 @@
 
 	<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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/RobotInterfaceCanTest/strain0.xml b/RobotInterfaceCanTest/strain0.xml
index d65bb480f2..5ac845fcd9 100644
--- a/RobotInterfaceCanTest/strain0.xml
+++ b/RobotInterfaceCanTest/strain0.xml
@@ -1,7 +1,7 @@
 <devices>
 	<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>
 		
 	</device>
 </devices>
diff --git a/RobotInterfaceCanTest/strain1.xml b/RobotInterfaceCanTest/strain1.xml
index 402dff6736..84f30eab5d 100644
--- a/RobotInterfaceCanTest/strain1.xml
+++ b/RobotInterfaceCanTest/strain1.xml
@@ -1,7 +1,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/RobotInterfaceCanTest/strain2.xml b/RobotInterfaceCanTest/strain2.xml
index 9e61def7d7..f9b57560cb 100644
--- a/RobotInterfaceCanTest/strain2.xml
+++ b/RobotInterfaceCanTest/strain2.xml
@@ -12,7 +12,7 @@
 
 	<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">
 		    <paramlist name="networks">
diff --git a/RobotInterfaceCanTest/strain3.xml b/RobotInterfaceCanTest/strain3.xml
index 72245c8fe3..692db880ea 100644
--- a/RobotInterfaceCanTest/strain3.xml
+++ b/RobotInterfaceCanTest/strain3.xml
@@ -23,7 +23,7 @@
 	
 	<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">
 		    <paramlist name="networks">
@@ -36,7 +36,7 @@
 	
 	<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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/RobotInterfaceCanTest/vstrain1.xml b/RobotInterfaceCanTest/vstrain1.xml
index 9acf07ac97..9d933aefa7 100644
--- a/RobotInterfaceCanTest/vstrain1.xml
+++ b/RobotInterfaceCanTest/vstrain1.xml
@@ -24,7 +24,7 @@
 	
 	<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">
 		    <paramlist name="networks">
@@ -37,7 +37,7 @@
 	
 	<device name="right_leg_as_wrapper" type="virtualAnalogServer">
 		<param name="period">       10				</param>
-		<param name="deviceId">     right_leg				</param>
+<param name="name">     /icub/right_leg/analog:o </param>
 		 <paramlist name="networks">
 		      <!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
 			<elem name="FirstSetOfJoints">  0  3  0  3 </elem> 
diff --git a/RobotInterfaceCanTest/vstrain2.xml b/RobotInterfaceCanTest/vstrain2.xml
index 989a54a9d2..866cb6795c 100644
--- a/RobotInterfaceCanTest/vstrain2.xml
+++ b/RobotInterfaceCanTest/vstrain2.xml
@@ -24,7 +24,7 @@
 	
 	<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">
 		    <paramlist name="networks">
 		        <elem name="FirstStrain">  left_upper_leg_strain </elem>
@@ -35,7 +35,7 @@
 	
 	<device name="right_leg_as_wrapper" type="virtualAnalogServer">
 		<param name="period">       10				</param>
-		<param name="deviceId">     right_leg				</param>
+<param name="name">     /icub/right_leg/analog:o </param>
 		 <paramlist name="networks">
 			<elem name="net1">  0  5  0  5 </elem> 
 		</paramlist>
diff --git a/RobotInterfaceCanTest/vstrain2b.xml b/RobotInterfaceCanTest/vstrain2b.xml
index 7d89940659..b826881a03 100644
--- a/RobotInterfaceCanTest/vstrain2b.xml
+++ b/RobotInterfaceCanTest/vstrain2b.xml
@@ -14,7 +14,7 @@
 	
 	<device name="right_leg_as_wrapper" type="virtualAnalogServer">
 		<param name="period">       10				</param>
-		<param name="deviceId">     right_leg				</param>
+<param name="name">     /icub/right_leg/analog:o </param>
 		 <paramlist name="networks">
 			<elem name="net1">  0  5  0  5 </elem> 
 		</paramlist>
@@ -41,7 +41,7 @@
 
 	<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">
 		    <paramlist name="networks">
 		        <elem name="FirstStrain">  left_upper_leg_strain </elem>
diff --git a/experimentalSetups/single_ftsensor_can/wrappers/FT/left_arm_FT_wrapper.xml b/experimentalSetups/single_ftsensor_can/wrappers/FT/left_arm_FT_wrapper.xml
index 7fd9083491..d8ab6681cf 100644
--- a/experimentalSetups/single_ftsensor_can/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/experimentalSetups/single_ftsensor_can/wrappers/FT/left_arm_FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGenova01" 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">
 		    <paramlist name="networks">
diff --git a/experimentalSetups/single_joint_BLL_FT/wrappers/FT/left_leg_FT_wrapper.xml b/experimentalSetups/single_joint_BLL_FT/wrappers/FT/left_leg_FT_wrapper.xml
index f0d31dd959..c8ece6cb91 100644
--- a/experimentalSetups/single_joint_BLL_FT/wrappers/FT/left_leg_FT_wrapper.xml
+++ b/experimentalSetups/single_joint_BLL_FT/wrappers/FT/left_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubAberystwyth01/wrappers/FT/left_arm_FT_wrapper.xml b/iCubAberystwyth01/wrappers/FT/left_arm_FT_wrapper.xml
index c4343c3948..58dbfd3b98 100644
--- a/iCubAberystwyth01/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/iCubAberystwyth01/wrappers/FT/left_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubAberystwyth01/wrappers/FT/left_foot_FT_wrapper.xml b/iCubAberystwyth01/wrappers/FT/left_foot_FT_wrapper.xml
index cff0fc075c..9dbc972358 100644
--- a/iCubAberystwyth01/wrappers/FT/left_foot_FT_wrapper.xml
+++ b/iCubAberystwyth01/wrappers/FT/left_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="left_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_foot			</param>
+<param name="name">     /icub/left_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubAberystwyth01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubAberystwyth01/wrappers/FT/left_leg_FT_wrapper.xml
index f0d31dd959..c8ece6cb91 100644
--- a/iCubAberystwyth01/wrappers/FT/left_leg_FT_wrapper.xml
+++ b/iCubAberystwyth01/wrappers/FT/left_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubAberystwyth01/wrappers/FT/right_arm_FT_wrapper.xml b/iCubAberystwyth01/wrappers/FT/right_arm_FT_wrapper.xml
index 1cfa4f3940..526df13d20 100644
--- a/iCubAberystwyth01/wrappers/FT/right_arm_FT_wrapper.xml
+++ b/iCubAberystwyth01/wrappers/FT/right_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubAberystwyth01/wrappers/FT/right_foot_FT_wrapper.xml b/iCubAberystwyth01/wrappers/FT/right_foot_FT_wrapper.xml
index dedcc7a88e..d4f2f9996f 100644
--- a/iCubAberystwyth01/wrappers/FT/right_foot_FT_wrapper.xml
+++ b/iCubAberystwyth01/wrappers/FT/right_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="right_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_foot				</param>
+		<param name="name">     /icub/right_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubAberystwyth01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubAberystwyth01/wrappers/FT/right_leg_FT_wrapper.xml
index 3f306fb228..8cdd707ffb 100644
--- a/iCubAberystwyth01/wrappers/FT/right_leg_FT_wrapper.xml
+++ b/iCubAberystwyth01/wrappers/FT/right_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubBarcelona01/wrappers/FT/left_arm_FT_wrapper.xml b/iCubBarcelona01/wrappers/FT/left_arm_FT_wrapper.xml
index c4343c3948..58dbfd3b98 100644
--- a/iCubBarcelona01/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/iCubBarcelona01/wrappers/FT/left_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubBarcelona01/wrappers/FT/left_foot_FT_wrapper.xml b/iCubBarcelona01/wrappers/FT/left_foot_FT_wrapper.xml
index cff0fc075c..9dbc972358 100644
--- a/iCubBarcelona01/wrappers/FT/left_foot_FT_wrapper.xml
+++ b/iCubBarcelona01/wrappers/FT/left_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="left_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_foot			</param>
+<param name="name">     /icub/left_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubBarcelona01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubBarcelona01/wrappers/FT/left_leg_FT_wrapper.xml
index f0d31dd959..c8ece6cb91 100644
--- a/iCubBarcelona01/wrappers/FT/left_leg_FT_wrapper.xml
+++ b/iCubBarcelona01/wrappers/FT/left_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubBarcelona01/wrappers/FT/right_arm_FT_wrapper.xml b/iCubBarcelona01/wrappers/FT/right_arm_FT_wrapper.xml
index 1cfa4f3940..526df13d20 100644
--- a/iCubBarcelona01/wrappers/FT/right_arm_FT_wrapper.xml
+++ b/iCubBarcelona01/wrappers/FT/right_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubBarcelona01/wrappers/FT/right_foot_FT_wrapper.xml b/iCubBarcelona01/wrappers/FT/right_foot_FT_wrapper.xml
index dedcc7a88e..d4f2f9996f 100644
--- a/iCubBarcelona01/wrappers/FT/right_foot_FT_wrapper.xml
+++ b/iCubBarcelona01/wrappers/FT/right_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="right_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_foot				</param>
+		<param name="name">     /icub/right_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubBarcelona01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubBarcelona01/wrappers/FT/right_leg_FT_wrapper.xml
index 3f306fb228..8cdd707ffb 100644
--- a/iCubBarcelona01/wrappers/FT/right_leg_FT_wrapper.xml
+++ b/iCubBarcelona01/wrappers/FT/right_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubChemnitz01/wrappers/FT/left_arm_FT_wrapper.xml b/iCubChemnitz01/wrappers/FT/left_arm_FT_wrapper.xml
index c4343c3948..58dbfd3b98 100644
--- a/iCubChemnitz01/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/iCubChemnitz01/wrappers/FT/left_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubChemnitz01/wrappers/FT/left_foot_FT_wrapper.xml b/iCubChemnitz01/wrappers/FT/left_foot_FT_wrapper.xml
index cff0fc075c..9dbc972358 100644
--- a/iCubChemnitz01/wrappers/FT/left_foot_FT_wrapper.xml
+++ b/iCubChemnitz01/wrappers/FT/left_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="left_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_foot			</param>
+<param name="name">     /icub/left_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubChemnitz01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubChemnitz01/wrappers/FT/left_leg_FT_wrapper.xml
index f0d31dd959..c8ece6cb91 100644
--- a/iCubChemnitz01/wrappers/FT/left_leg_FT_wrapper.xml
+++ b/iCubChemnitz01/wrappers/FT/left_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubChemnitz01/wrappers/FT/right_arm_FT_wrapper.xml b/iCubChemnitz01/wrappers/FT/right_arm_FT_wrapper.xml
index 1cfa4f3940..526df13d20 100644
--- a/iCubChemnitz01/wrappers/FT/right_arm_FT_wrapper.xml
+++ b/iCubChemnitz01/wrappers/FT/right_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubChemnitz01/wrappers/FT/right_foot_FT_wrapper.xml b/iCubChemnitz01/wrappers/FT/right_foot_FT_wrapper.xml
index dedcc7a88e..d4f2f9996f 100644
--- a/iCubChemnitz01/wrappers/FT/right_foot_FT_wrapper.xml
+++ b/iCubChemnitz01/wrappers/FT/right_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="right_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_foot				</param>
+		<param name="name">     /icub/right_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubChemnitz01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubChemnitz01/wrappers/FT/right_leg_FT_wrapper.xml
index 3f306fb228..8cdd707ffb 100644
--- a/iCubChemnitz01/wrappers/FT/right_leg_FT_wrapper.xml
+++ b/iCubChemnitz01/wrappers/FT/right_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubDaejeon01/wrappers/FT/left_arm-FT_wrapper.xml b/iCubDaejeon01/wrappers/FT/left_arm-FT_wrapper.xml
index 18f00b27e3..0a4caff4ac 100644
--- a/iCubDaejeon01/wrappers/FT/left_arm-FT_wrapper.xml
+++ b/iCubDaejeon01/wrappers/FT/left_arm-FT_wrapper.xml
@@ -3,7 +3,7 @@
 <devices robot="iCubDaejeon01" build="0">
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubDaejeon01/wrappers/FT/left_leg-FT_wrapper.xml b/iCubDaejeon01/wrappers/FT/left_leg-FT_wrapper.xml
index 9964d35586..fa4bcf5174 100644
--- a/iCubDaejeon01/wrappers/FT/left_leg-FT_wrapper.xml
+++ b/iCubDaejeon01/wrappers/FT/left_leg-FT_wrapper.xml
@@ -3,7 +3,7 @@
 <devices robot="iCubDaejeon01" build="0">
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubDaejeon01/wrappers/FT/right_arm-FT_wrapper.xml b/iCubDaejeon01/wrappers/FT/right_arm-FT_wrapper.xml
index a13c69aaa3..52604bd550 100644
--- a/iCubDaejeon01/wrappers/FT/right_arm-FT_wrapper.xml
+++ b/iCubDaejeon01/wrappers/FT/right_arm-FT_wrapper.xml
@@ -3,7 +3,7 @@
 <devices robot="iCubDaejeon01" build="0">
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubDaejeon01/wrappers/FT/right_leg-FT_wrapper.xml b/iCubDaejeon01/wrappers/FT/right_leg-FT_wrapper.xml
index 43f29a22f6..31f4670232 100644
--- a/iCubDaejeon01/wrappers/FT/right_leg-FT_wrapper.xml
+++ b/iCubDaejeon01/wrappers/FT/right_leg-FT_wrapper.xml
@@ -3,7 +3,7 @@
 <devices robot="iCubDaejeon01" build="0">
 	<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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGenova01/wrappers/FT/left_arm_FT_wrapper.xml b/iCubGenova01/wrappers/FT/left_arm_FT_wrapper.xml
index 7fd9083491..d8ab6681cf 100644
--- a/iCubGenova01/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/iCubGenova01/wrappers/FT/left_arm_FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGenova01" 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">
 		    <paramlist name="networks">
diff --git a/iCubGenova01/wrappers/FT/left_foot_FT_wrapper.xml b/iCubGenova01/wrappers/FT/left_foot_FT_wrapper.xml
index d6858b42c5..48bc4335b5 100644
--- a/iCubGenova01/wrappers/FT/left_foot_FT_wrapper.xml
+++ b/iCubGenova01/wrappers/FT/left_foot_FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGenova01" build="1">
 	<device name="left_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_foot			</param>
+<param name="name">     /icub/left_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGenova01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubGenova01/wrappers/FT/left_leg_FT_wrapper.xml
index d7a5c893e6..7d320d7066 100644
--- a/iCubGenova01/wrappers/FT/left_leg_FT_wrapper.xml
+++ b/iCubGenova01/wrappers/FT/left_leg_FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGenova01" 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">
 		    <paramlist name="networks">
diff --git a/iCubGenova01/wrappers/FT/right_arm_FT_wrapper.xml b/iCubGenova01/wrappers/FT/right_arm_FT_wrapper.xml
index 3db52b4113..482974718e 100644
--- a/iCubGenova01/wrappers/FT/right_arm_FT_wrapper.xml
+++ b/iCubGenova01/wrappers/FT/right_arm_FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGenova01" 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">
 		    <paramlist name="networks">
diff --git a/iCubGenova01/wrappers/FT/right_foot_FT_wrapper.xml b/iCubGenova01/wrappers/FT/right_foot_FT_wrapper.xml
index 347205f9af..a865b55226 100644
--- a/iCubGenova01/wrappers/FT/right_foot_FT_wrapper.xml
+++ b/iCubGenova01/wrappers/FT/right_foot_FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGenova01" build="1">
 	<device name="right_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_foot				</param>
+		<param name="name">     /icub/right_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGenova01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubGenova01/wrappers/FT/right_leg_FT_wrapper.xml
index 67c8aca19c..94b680d13a 100644
--- a/iCubGenova01/wrappers/FT/right_leg_FT_wrapper.xml
+++ b/iCubGenova01/wrappers/FT/right_leg_FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGenova01" 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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGenova02/wrappers/FT/left_arm-FT_wrapper.xml b/iCubGenova02/wrappers/FT/left_arm-FT_wrapper.xml
index d83b0db30a..c5cc6f400b 100644
--- a/iCubGenova02/wrappers/FT/left_arm-FT_wrapper.xml
+++ b/iCubGenova02/wrappers/FT/left_arm-FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGenova02" 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">
 		    <paramlist name="networks">
diff --git a/iCubGenova02/wrappers/FT/left_foot-FT_wrapper.xml b/iCubGenova02/wrappers/FT/left_foot-FT_wrapper.xml
index 2c501384b7..8d63d3cf35 100644
--- a/iCubGenova02/wrappers/FT/left_foot-FT_wrapper.xml
+++ b/iCubGenova02/wrappers/FT/left_foot-FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGenova02" build="1">
 	<device name="left_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_foot				</param>
+		<param name="name">     /icub/left_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGenova02/wrappers/FT/left_leg-FT_wrapper.xml b/iCubGenova02/wrappers/FT/left_leg-FT_wrapper.xml
index ee6b39bfac..1d566fb1b7 100644
--- a/iCubGenova02/wrappers/FT/left_leg-FT_wrapper.xml
+++ b/iCubGenova02/wrappers/FT/left_leg-FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGenova02" 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">
 		    <paramlist name="networks">
diff --git a/iCubGenova02/wrappers/FT/right_arm-FT_wrapper.xml b/iCubGenova02/wrappers/FT/right_arm-FT_wrapper.xml
index 4558c6147d..69814a2400 100644
--- a/iCubGenova02/wrappers/FT/right_arm-FT_wrapper.xml
+++ b/iCubGenova02/wrappers/FT/right_arm-FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGenova02" build="1">
 	<device name="left_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">
 		    <paramlist name="networks">
diff --git a/iCubGenova02/wrappers/FT/right_foot-FT_wrapper.xml b/iCubGenova02/wrappers/FT/right_foot-FT_wrapper.xml
index e0b5573abd..8ef17f10a7 100644
--- a/iCubGenova02/wrappers/FT/right_foot-FT_wrapper.xml
+++ b/iCubGenova02/wrappers/FT/right_foot-FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGenova02" build="1">
 	<device name="right_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_foot				</param>
+		<param name="name">     /icub/right_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGenova02/wrappers/FT/right_leg-FT_wrapper.xml b/iCubGenova02/wrappers/FT/right_leg-FT_wrapper.xml
index c47bf4840c..0af6d7325e 100644
--- a/iCubGenova02/wrappers/FT/right_leg-FT_wrapper.xml
+++ b/iCubGenova02/wrappers/FT/right_leg-FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGenova02" 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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGenova03/wrappers/FT/left_arm_FT_wrapper.xml b/iCubGenova03/wrappers/FT/left_arm_FT_wrapper.xml
index c4343c3948..58dbfd3b98 100644
--- a/iCubGenova03/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/iCubGenova03/wrappers/FT/left_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubGenova03/wrappers/FT/left_foot_FT_wrapper.xml b/iCubGenova03/wrappers/FT/left_foot_FT_wrapper.xml
index cff0fc075c..9dbc972358 100644
--- a/iCubGenova03/wrappers/FT/left_foot_FT_wrapper.xml
+++ b/iCubGenova03/wrappers/FT/left_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="left_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_foot			</param>
+<param name="name">     /icub/left_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGenova03/wrappers/FT/left_leg_FT_wrapper.xml b/iCubGenova03/wrappers/FT/left_leg_FT_wrapper.xml
index f0d31dd959..c8ece6cb91 100644
--- a/iCubGenova03/wrappers/FT/left_leg_FT_wrapper.xml
+++ b/iCubGenova03/wrappers/FT/left_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubGenova03/wrappers/FT/right_arm_FT_wrapper.xml b/iCubGenova03/wrappers/FT/right_arm_FT_wrapper.xml
index 1cfa4f3940..526df13d20 100644
--- a/iCubGenova03/wrappers/FT/right_arm_FT_wrapper.xml
+++ b/iCubGenova03/wrappers/FT/right_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubGenova03/wrappers/FT/right_foot_FT_wrapper.xml b/iCubGenova03/wrappers/FT/right_foot_FT_wrapper.xml
index dedcc7a88e..d4f2f9996f 100644
--- a/iCubGenova03/wrappers/FT/right_foot_FT_wrapper.xml
+++ b/iCubGenova03/wrappers/FT/right_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="right_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_foot				</param>
+		<param name="name">     /icub/right_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGenova03/wrappers/FT/right_leg_FT_wrapper.xml b/iCubGenova03/wrappers/FT/right_leg_FT_wrapper.xml
index 3f306fb228..8cdd707ffb 100644
--- a/iCubGenova03/wrappers/FT/right_leg_FT_wrapper.xml
+++ b/iCubGenova03/wrappers/FT/right_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGenova05/wrappers/FT/left_arm-FT_wrapper.xml b/iCubGenova05/wrappers/FT/left_arm-FT_wrapper.xml
index 4920c05ab7..ae7475aeba 100644
--- a/iCubGenova05/wrappers/FT/left_arm-FT_wrapper.xml
+++ b/iCubGenova05/wrappers/FT/left_arm-FT_wrapper.xml
@@ -5,7 +5,7 @@
 	<device name="left_arm_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
 		<param name="name">       /icub/left_arm/analog:o		</param>
-		<param name="deviceId">     left_arm				</param>
+<param name="name">     /icub/left_arm/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGenova05/wrappers/FT/left_foot-FT_wrapper.xml b/iCubGenova05/wrappers/FT/left_foot-FT_wrapper.xml
index b1a1773b49..7f54f36df8 100644
--- a/iCubGenova05/wrappers/FT/left_foot-FT_wrapper.xml
+++ b/iCubGenova05/wrappers/FT/left_foot-FT_wrapper.xml
@@ -5,7 +5,7 @@
 	<device name="left_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
 		<param name="name">       /icub/left_foot/analog:o		</param>
-		<param name="deviceId">     left_foot				</param>
+		<param name="name">     /icub/left_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGenova05/wrappers/FT/left_leg-FT_wrapper.xml b/iCubGenova05/wrappers/FT/left_leg-FT_wrapper.xml
index 84da248181..1c0029009b 100644
--- a/iCubGenova05/wrappers/FT/left_leg-FT_wrapper.xml
+++ b/iCubGenova05/wrappers/FT/left_leg-FT_wrapper.xml
@@ -5,7 +5,7 @@
 	<device name="left_leg_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
 		<param name="name">       /icub/left_leg/analog:o		</param>
-		<param name="deviceId">     left_leg				</param>
+<param name="name">     /icub/left_leg/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGenova05/wrappers/FT/right_arm-FT_wrapper.xml b/iCubGenova05/wrappers/FT/right_arm-FT_wrapper.xml
index fb7da5c964..834e3a9f77 100644
--- a/iCubGenova05/wrappers/FT/right_arm-FT_wrapper.xml
+++ b/iCubGenova05/wrappers/FT/right_arm-FT_wrapper.xml
@@ -5,7 +5,7 @@
 	<device name="left_arm_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
 		<param name="name">       /icub/right_arm/analog:o		</param>
-		<param name="deviceId">     right_arm				</param>
+<param name="name">     /icub/right_arm/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGenova05/wrappers/FT/right_foot-FT_wrapper.xml b/iCubGenova05/wrappers/FT/right_foot-FT_wrapper.xml
index 230e092763..b0965affd3 100644
--- a/iCubGenova05/wrappers/FT/right_foot-FT_wrapper.xml
+++ b/iCubGenova05/wrappers/FT/right_foot-FT_wrapper.xml
@@ -5,7 +5,7 @@
 	<device name="right_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
 		<param name="name">       /icub/right_foot/analog:o		</param>
-		<param name="deviceId">     right_foot				</param>
+		<param name="name">     /icub/right_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGenova05/wrappers/FT/right_leg-FT_wrapper.xml b/iCubGenova05/wrappers/FT/right_leg-FT_wrapper.xml
index 92d0ca9a3a..347b9e6ff7 100644
--- a/iCubGenova05/wrappers/FT/right_leg-FT_wrapper.xml
+++ b/iCubGenova05/wrappers/FT/right_leg-FT_wrapper.xml
@@ -5,7 +5,7 @@
 	<device name="right_leg_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
 		<param name="name">       /icub/right_leg/analog:o		</param>
-		<param name="deviceId">     right_leg				</param>
+<param name="name">     /icub/right_leg/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGrenoble01/wrappers/FT/left_arm_FT_wrapper.xml b/iCubGrenoble01/wrappers/FT/left_arm_FT_wrapper.xml
index db9ee88338..4261ba4965 100644
--- a/iCubGrenoble01/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/iCubGrenoble01/wrappers/FT/left_arm_FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGrenoble01" 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">
 		    <paramlist name="networks">
diff --git a/iCubGrenoble01/wrappers/FT/left_foot_FT_wrapper.xml b/iCubGrenoble01/wrappers/FT/left_foot_FT_wrapper.xml
index 9011d1b9bb..3a5ba4ec20 100644
--- a/iCubGrenoble01/wrappers/FT/left_foot_FT_wrapper.xml
+++ b/iCubGrenoble01/wrappers/FT/left_foot_FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGrenoble01" build="1">
 	<device name="left_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_foot			</param>
+<param name="name">     /icub/left_foot/analog:o </param>
 
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGrenoble01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubGrenoble01/wrappers/FT/left_leg_FT_wrapper.xml
index 80f69a1d8a..481a552b82 100644
--- a/iCubGrenoble01/wrappers/FT/left_leg_FT_wrapper.xml
+++ b/iCubGrenoble01/wrappers/FT/left_leg_FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGrenoble01" 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">
 		    <paramlist name="networks">
diff --git a/iCubGrenoble01/wrappers/FT/right_arm_FT_wrapper.xml b/iCubGrenoble01/wrappers/FT/right_arm_FT_wrapper.xml
index fd5037ea26..177b8e79b1 100644
--- a/iCubGrenoble01/wrappers/FT/right_arm_FT_wrapper.xml
+++ b/iCubGrenoble01/wrappers/FT/right_arm_FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGrenoble01" 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">
 		    <paramlist name="networks">
diff --git a/iCubGrenoble01/wrappers/FT/right_foot_FT_wrapper.xml b/iCubGrenoble01/wrappers/FT/right_foot_FT_wrapper.xml
index 3490ea12c2..284682fafc 100644
--- a/iCubGrenoble01/wrappers/FT/right_foot_FT_wrapper.xml
+++ b/iCubGrenoble01/wrappers/FT/right_foot_FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGrenoble01" build="1">
 	<device name="right_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_foot				</param>
+		<param name="name">     /icub/right_foot/analog:o </param>
 
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubGrenoble01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubGrenoble01/wrappers/FT/right_leg_FT_wrapper.xml
index da06476f73..bd7d93728c 100644
--- a/iCubGrenoble01/wrappers/FT/right_leg_FT_wrapper.xml
+++ b/iCubGrenoble01/wrappers/FT/right_leg_FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubGrenoble01" 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>
 
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubHeidelberg01/wrappers/FT/left_foot-FT_wrapper.xml b/iCubHeidelberg01/wrappers/FT/left_foot-FT_wrapper.xml
index 641b2a78ae..0a8966fa76 100644
--- a/iCubHeidelberg01/wrappers/FT/left_foot-FT_wrapper.xml
+++ b/iCubHeidelberg01/wrappers/FT/left_foot-FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubHeidelberg01" build="1">
 	<device name="left_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_foot				</param>
+		<param name="name">     /icub/left_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubHeidelberg01/wrappers/FT/left_leg-FT_wrapper.xml b/iCubHeidelberg01/wrappers/FT/left_leg-FT_wrapper.xml
index b5b0beee73..50259bbc61 100644
--- a/iCubHeidelberg01/wrappers/FT/left_leg-FT_wrapper.xml
+++ b/iCubHeidelberg01/wrappers/FT/left_leg-FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubHeidelberg01" 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">
 		    <paramlist name="networks">
diff --git a/iCubHeidelberg01/wrappers/FT/right_foot-FT_wrapper.xml b/iCubHeidelberg01/wrappers/FT/right_foot-FT_wrapper.xml
index 0133d0c7b9..cf1607c398 100644
--- a/iCubHeidelberg01/wrappers/FT/right_foot-FT_wrapper.xml
+++ b/iCubHeidelberg01/wrappers/FT/right_foot-FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubHeidelberg01" build="1">
 	<device name="right_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_foot				</param>
+		<param name="name">     /icub/right_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubHeidelberg01/wrappers/FT/right_leg-FT_wrapper.xml b/iCubHeidelberg01/wrappers/FT/right_leg-FT_wrapper.xml
index 0be7b313f1..4f952b8267 100644
--- a/iCubHeidelberg01/wrappers/FT/right_leg-FT_wrapper.xml
+++ b/iCubHeidelberg01/wrappers/FT/right_leg-FT_wrapper.xml
@@ -4,7 +4,7 @@
 <devices robot="iCubHeidelberg01" 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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubHertfordshire01/wrappers/FT/left_arm_FT_wrapper.xml b/iCubHertfordshire01/wrappers/FT/left_arm_FT_wrapper.xml
index 677fa45b11..b2713f7616 100644
--- a/iCubHertfordshire01/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/iCubHertfordshire01/wrappers/FT/left_arm_FT_wrapper.xml
@@ -3,7 +3,7 @@
 <devices robot="iCubHertfordshire01" build="0">
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubHertfordshire01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubHertfordshire01/wrappers/FT/left_leg_FT_wrapper.xml
index 9c8538a3c5..d963205964 100644
--- a/iCubHertfordshire01/wrappers/FT/left_leg_FT_wrapper.xml
+++ b/iCubHertfordshire01/wrappers/FT/left_leg_FT_wrapper.xml
@@ -3,7 +3,7 @@
 <devices robot="iCubHertfordshire01" build="0">
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubHertfordshire01/wrappers/FT/right_arm_FT_wrapper.xml b/iCubHertfordshire01/wrappers/FT/right_arm_FT_wrapper.xml
index f50d6845cf..b02ba5571e 100644
--- a/iCubHertfordshire01/wrappers/FT/right_arm_FT_wrapper.xml
+++ b/iCubHertfordshire01/wrappers/FT/right_arm_FT_wrapper.xml
@@ -3,7 +3,7 @@
 <devices robot="iCubHertfordshire01" build="0">
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubHertfordshire01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubHertfordshire01/wrappers/FT/right_leg_FT_wrapper.xml
index 500c91ce24..7ea2bcd423 100644
--- a/iCubHertfordshire01/wrappers/FT/right_leg_FT_wrapper.xml
+++ b/iCubHertfordshire01/wrappers/FT/right_leg_FT_wrapper.xml
@@ -3,7 +3,7 @@
 <devices robot="iCubHertfordshire01" build="0">
 	<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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubLausanne01/wrappers/FT/left_arm_FT_wrapper.xml b/iCubLausanne01/wrappers/FT/left_arm_FT_wrapper.xml
index c4343c3948..58dbfd3b98 100644
--- a/iCubLausanne01/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/iCubLausanne01/wrappers/FT/left_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubLausanne01/wrappers/FT/left_foot_FT_wrapper.xml b/iCubLausanne01/wrappers/FT/left_foot_FT_wrapper.xml
index cff0fc075c..9dbc972358 100644
--- a/iCubLausanne01/wrappers/FT/left_foot_FT_wrapper.xml
+++ b/iCubLausanne01/wrappers/FT/left_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="left_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_foot			</param>
+<param name="name">     /icub/left_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubLausanne01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubLausanne01/wrappers/FT/left_leg_FT_wrapper.xml
index f0d31dd959..c8ece6cb91 100644
--- a/iCubLausanne01/wrappers/FT/left_leg_FT_wrapper.xml
+++ b/iCubLausanne01/wrappers/FT/left_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubLausanne01/wrappers/FT/right_arm_FT_wrapper.xml b/iCubLausanne01/wrappers/FT/right_arm_FT_wrapper.xml
index 1cfa4f3940..526df13d20 100644
--- a/iCubLausanne01/wrappers/FT/right_arm_FT_wrapper.xml
+++ b/iCubLausanne01/wrappers/FT/right_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubLausanne01/wrappers/FT/right_foot_FT_wrapper.xml b/iCubLausanne01/wrappers/FT/right_foot_FT_wrapper.xml
index dedcc7a88e..d4f2f9996f 100644
--- a/iCubLausanne01/wrappers/FT/right_foot_FT_wrapper.xml
+++ b/iCubLausanne01/wrappers/FT/right_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="right_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_foot				</param>
+		<param name="name">     /icub/right_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubLausanne01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubLausanne01/wrappers/FT/right_leg_FT_wrapper.xml
index 3f306fb228..8cdd707ffb 100644
--- a/iCubLausanne01/wrappers/FT/right_leg_FT_wrapper.xml
+++ b/iCubLausanne01/wrappers/FT/right_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubLugano01/wrappers/FT/left_arm_FT_wrapper.xml b/iCubLugano01/wrappers/FT/left_arm_FT_wrapper.xml
index f2cc96381e..44efbc6cf9 100644
--- a/iCubLugano01/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/iCubLugano01/wrappers/FT/left_arm_FT_wrapper.xml
@@ -3,7 +3,7 @@
 <devices robot="iCubLugano01" 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">
 		    <paramlist name="networks">
diff --git a/iCubLugano01/wrappers/FT/right_arm_FT_wrapper.xml b/iCubLugano01/wrappers/FT/right_arm_FT_wrapper.xml
index ae715ea244..e4d304641c 100644
--- a/iCubLugano01/wrappers/FT/right_arm_FT_wrapper.xml
+++ b/iCubLugano01/wrappers/FT/right_arm_FT_wrapper.xml
@@ -3,7 +3,7 @@
 <devices robot="iCubLugano01" 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">
 		    <paramlist name="networks">
diff --git a/iCubLyon01/wrappers/FT/left_arm_FT_wrapper.xml b/iCubLyon01/wrappers/FT/left_arm_FT_wrapper.xml
index c4343c3948..58dbfd3b98 100644
--- a/iCubLyon01/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/iCubLyon01/wrappers/FT/left_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubLyon01/wrappers/FT/left_foot_FT_wrapper.xml b/iCubLyon01/wrappers/FT/left_foot_FT_wrapper.xml
index cff0fc075c..9dbc972358 100644
--- a/iCubLyon01/wrappers/FT/left_foot_FT_wrapper.xml
+++ b/iCubLyon01/wrappers/FT/left_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="left_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_foot			</param>
+<param name="name">     /icub/left_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubLyon01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubLyon01/wrappers/FT/left_leg_FT_wrapper.xml
index f0d31dd959..c8ece6cb91 100644
--- a/iCubLyon01/wrappers/FT/left_leg_FT_wrapper.xml
+++ b/iCubLyon01/wrappers/FT/left_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubLyon01/wrappers/FT/right_arm_FT_wrapper.xml b/iCubLyon01/wrappers/FT/right_arm_FT_wrapper.xml
index 1cfa4f3940..526df13d20 100644
--- a/iCubLyon01/wrappers/FT/right_arm_FT_wrapper.xml
+++ b/iCubLyon01/wrappers/FT/right_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubLyon01/wrappers/FT/right_foot_FT_wrapper.xml b/iCubLyon01/wrappers/FT/right_foot_FT_wrapper.xml
index dedcc7a88e..d4f2f9996f 100644
--- a/iCubLyon01/wrappers/FT/right_foot_FT_wrapper.xml
+++ b/iCubLyon01/wrappers/FT/right_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="right_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_foot				</param>
+		<param name="name">     /icub/right_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubLyon01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubLyon01/wrappers/FT/right_leg_FT_wrapper.xml
index 3f306fb228..8cdd707ffb 100644
--- a/iCubLyon01/wrappers/FT/right_leg_FT_wrapper.xml
+++ b/iCubLyon01/wrappers/FT/right_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubParis02/wrappers/FT/left_arm_FT_wrapper.xml b/iCubParis02/wrappers/FT/left_arm_FT_wrapper.xml
index c4343c3948..58dbfd3b98 100644
--- a/iCubParis02/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/iCubParis02/wrappers/FT/left_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubParis02/wrappers/FT/left_foot_FT_wrapper.xml b/iCubParis02/wrappers/FT/left_foot_FT_wrapper.xml
index cff0fc075c..9dbc972358 100644
--- a/iCubParis02/wrappers/FT/left_foot_FT_wrapper.xml
+++ b/iCubParis02/wrappers/FT/left_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="left_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_foot			</param>
+<param name="name">     /icub/left_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubParis02/wrappers/FT/left_leg_FT_wrapper.xml b/iCubParis02/wrappers/FT/left_leg_FT_wrapper.xml
index f0d31dd959..c8ece6cb91 100644
--- a/iCubParis02/wrappers/FT/left_leg_FT_wrapper.xml
+++ b/iCubParis02/wrappers/FT/left_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubParis02/wrappers/FT/right_arm_FT_wrapper.xml b/iCubParis02/wrappers/FT/right_arm_FT_wrapper.xml
index 1cfa4f3940..526df13d20 100644
--- a/iCubParis02/wrappers/FT/right_arm_FT_wrapper.xml
+++ b/iCubParis02/wrappers/FT/right_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubParis02/wrappers/FT/right_foot_FT_wrapper.xml b/iCubParis02/wrappers/FT/right_foot_FT_wrapper.xml
index dedcc7a88e..d4f2f9996f 100644
--- a/iCubParis02/wrappers/FT/right_foot_FT_wrapper.xml
+++ b/iCubParis02/wrappers/FT/right_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="right_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_foot				</param>
+		<param name="name">     /icub/right_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubParis02/wrappers/FT/right_leg_FT_wrapper.xml b/iCubParis02/wrappers/FT/right_leg_FT_wrapper.xml
index 3f306fb228..8cdd707ffb 100644
--- a/iCubParis02/wrappers/FT/right_leg_FT_wrapper.xml
+++ b/iCubParis02/wrappers/FT/right_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubPlymouth01/wrappers/FT/left_arm_FT_wrapper.xml b/iCubPlymouth01/wrappers/FT/left_arm_FT_wrapper.xml
index c4343c3948..58dbfd3b98 100644
--- a/iCubPlymouth01/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/iCubPlymouth01/wrappers/FT/left_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubPlymouth01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubPlymouth01/wrappers/FT/left_leg_FT_wrapper.xml
index f0d31dd959..c8ece6cb91 100644
--- a/iCubPlymouth01/wrappers/FT/left_leg_FT_wrapper.xml
+++ b/iCubPlymouth01/wrappers/FT/left_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubPlymouth01/wrappers/FT/right_arm_FT_wrapper.xml b/iCubPlymouth01/wrappers/FT/right_arm_FT_wrapper.xml
index 1cfa4f3940..526df13d20 100644
--- a/iCubPlymouth01/wrappers/FT/right_arm_FT_wrapper.xml
+++ b/iCubPlymouth01/wrappers/FT/right_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubPlymouth01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubPlymouth01/wrappers/FT/right_leg_FT_wrapper.xml
index 3f306fb228..8cdd707ffb 100644
--- a/iCubPlymouth01/wrappers/FT/right_leg_FT_wrapper.xml
+++ b/iCubPlymouth01/wrappers/FT/right_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubSheffield01/wrappers/FT/left_arm-FT_wrapper.xml b/iCubSheffield01/wrappers/FT/left_arm-FT_wrapper.xml
index 0718d0501a..f08dea2ab9 100644
--- a/iCubSheffield01/wrappers/FT/left_arm-FT_wrapper.xml
+++ b/iCubSheffield01/wrappers/FT/left_arm-FT_wrapper.xml
@@ -5,7 +5,7 @@
 	<device name="left_arm_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
 		<param name="name">       /icub/left_arm/analog:o		</param>
-		<param name="deviceId">     left_arm				</param>
+<param name="name">     /icub/left_arm/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubSheffield01/wrappers/FT/right_arm-FT_wrapper.xml b/iCubSheffield01/wrappers/FT/right_arm-FT_wrapper.xml
index 950528b4b5..174ed61159 100644
--- a/iCubSheffield01/wrappers/FT/right_arm-FT_wrapper.xml
+++ b/iCubSheffield01/wrappers/FT/right_arm-FT_wrapper.xml
@@ -5,7 +5,7 @@
 	<device name="left_arm_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
 		<param name="name">       /icub/right_arm/analog:o		</param>
-		<param name="deviceId">     right_arm				</param>
+<param name="name">     /icub/right_arm/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubTemplateV1_7/wrappers/FT/left_arm_FT_wrapper.xml b/iCubTemplateV1_7/wrappers/FT/left_arm_FT_wrapper.xml
index c4343c3948..58dbfd3b98 100644
--- a/iCubTemplateV1_7/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/iCubTemplateV1_7/wrappers/FT/left_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubTemplateV1_7/wrappers/FT/left_leg_FT_wrapper.xml b/iCubTemplateV1_7/wrappers/FT/left_leg_FT_wrapper.xml
index f0d31dd959..c8ece6cb91 100644
--- a/iCubTemplateV1_7/wrappers/FT/left_leg_FT_wrapper.xml
+++ b/iCubTemplateV1_7/wrappers/FT/left_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubTemplateV1_7/wrappers/FT/right_arm_FT_wrapper.xml b/iCubTemplateV1_7/wrappers/FT/right_arm_FT_wrapper.xml
index 1cfa4f3940..526df13d20 100644
--- a/iCubTemplateV1_7/wrappers/FT/right_arm_FT_wrapper.xml
+++ b/iCubTemplateV1_7/wrappers/FT/right_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubTemplateV1_7/wrappers/FT/right_leg_FT_wrapper.xml b/iCubTemplateV1_7/wrappers/FT/right_leg_FT_wrapper.xml
index 3f306fb228..8cdd707ffb 100644
--- a/iCubTemplateV1_7/wrappers/FT/right_leg_FT_wrapper.xml
+++ b/iCubTemplateV1_7/wrappers/FT/right_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubTemplate_RI/wrappers/FT/left_arm_FT_wrapper.xml b/iCubTemplate_RI/wrappers/FT/left_arm_FT_wrapper.xml
index 46377a15d5..355d8e59db 100644
--- a/iCubTemplate_RI/wrappers/FT/left_arm_FT_wrapper.xml
+++ b/iCubTemplate_RI/wrappers/FT/left_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubTemplate_RI/wrappers/FT/left_foot_FT_wrapper.xml b/iCubTemplate_RI/wrappers/FT/left_foot_FT_wrapper.xml
index 894ad2b158..a78caba06a 100644
--- a/iCubTemplate_RI/wrappers/FT/left_foot_FT_wrapper.xml
+++ b/iCubTemplate_RI/wrappers/FT/left_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="left_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     left_foot			</param>
+<param name="name">     /icub/left_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubTemplate_RI/wrappers/FT/left_leg_FT_wrapper.xml b/iCubTemplate_RI/wrappers/FT/left_leg_FT_wrapper.xml
index b92a71b790..83ea5abda1 100644
--- a/iCubTemplate_RI/wrappers/FT/left_leg_FT_wrapper.xml
+++ b/iCubTemplate_RI/wrappers/FT/left_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubTemplate_RI/wrappers/FT/right_arm_FT_wrapper.xml b/iCubTemplate_RI/wrappers/FT/right_arm_FT_wrapper.xml
index b562953110..fa79d4bb64 100644
--- a/iCubTemplate_RI/wrappers/FT/right_arm_FT_wrapper.xml
+++ b/iCubTemplate_RI/wrappers/FT/right_arm_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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">
 		    <paramlist name="networks">
diff --git a/iCubTemplate_RI/wrappers/FT/right_foot_FT_wrapper.xml b/iCubTemplate_RI/wrappers/FT/right_foot_FT_wrapper.xml
index 96bfd61a4f..256095f8e2 100644
--- a/iCubTemplate_RI/wrappers/FT/right_foot_FT_wrapper.xml
+++ b/iCubTemplate_RI/wrappers/FT/right_foot_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<device name="right_foot_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
-		<param name="deviceId">     right_foot				</param>
+		<param name="name">     /icub/right_foot/analog:o </param>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">
diff --git a/iCubTemplate_RI/wrappers/FT/right_leg_FT_wrapper.xml b/iCubTemplate_RI/wrappers/FT/right_leg_FT_wrapper.xml
index 294abc4729..b3a8e90417 100644
--- a/iCubTemplate_RI/wrappers/FT/right_leg_FT_wrapper.xml
+++ b/iCubTemplate_RI/wrappers/FT/right_leg_FT_wrapper.xml
@@ -2,7 +2,7 @@
 <devices>
 	<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>
 		
 		<action phase="startup" level="5" type="attach">
 		    <paramlist name="networks">