diff --git a/simmechanics/data/icub2_5/conf/icub.xml b/simmechanics/data/icub2_5/conf/icub.xml
index 6ffdfa6..6b9ce23 100644
--- a/simmechanics/data/icub2_5/conf/icub.xml
+++ b/simmechanics/data/icub2_5/conf/icub.xml
@@ -20,12 +20,12 @@
-
-
+
+
+
+
-
-
diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/left_arm-FT_wrapper.xml b/simmechanics/data/icub2_5/conf/wrappers/FT/left_arm-FT_wrapper.xml
index b757d59..b9b6320 100644
--- a/simmechanics/data/icub2_5/conf/wrappers/FT/left_arm-FT_wrapper.xml
+++ b/simmechanics/data/icub2_5/conf/wrappers/FT/left_arm-FT_wrapper.xml
@@ -4,7 +4,7 @@
10
- ${portprefix}/left_arm
+ ${portprefix}/left_arm/FT
diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/left_leg-FT_remapper.xml b/simmechanics/data/icub2_5/conf/wrappers/FT/left_leg-FT_remapper.xml
new file mode 100644
index 0000000..07afbe3
--- /dev/null
+++ b/simmechanics/data/icub2_5/conf/wrappers/FT/left_leg-FT_remapper.xml
@@ -0,0 +1,20 @@
+
+
+
+
+
+
+ (l_leg_ft_sensor l_foot_ft_sensor)
+
+
+ (l_leg_ft_sensor l_foot_ft_sensor)
+
+
+
+ icub_left_leg_ft
+ icub_left_foot_ft
+
+
+
+
+
\ No newline at end of file
diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/left_foot-FT_wrapper.xml b/simmechanics/data/icub2_5/conf/wrappers/FT/left_leg-FT_wrapper.xml
similarity index 61%
rename from simmechanics/data/icub2_5/conf/wrappers/FT/left_foot-FT_wrapper.xml
rename to simmechanics/data/icub2_5/conf/wrappers/FT/left_leg-FT_wrapper.xml
index 0b57236..5521247 100644
--- a/simmechanics/data/icub2_5/conf/wrappers/FT/left_foot-FT_wrapper.xml
+++ b/simmechanics/data/icub2_5/conf/wrappers/FT/left_leg-FT_wrapper.xml
@@ -2,16 +2,15 @@
-
- 10
- ${portprefix}/left_foot
+
+ 10
+ ${portprefix}/left_leg/FT
- icub_left_foot_ft
+ left_leg-FT_remapper
-
diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/right_arm-FT_wrapper.xml b/simmechanics/data/icub2_5/conf/wrappers/FT/right_arm-FT_wrapper.xml
index 2220e0b..940f08d 100644
--- a/simmechanics/data/icub2_5/conf/wrappers/FT/right_arm-FT_wrapper.xml
+++ b/simmechanics/data/icub2_5/conf/wrappers/FT/right_arm-FT_wrapper.xml
@@ -4,7 +4,7 @@
10
- ${portprefix}/right_arm
+ ${portprefix}/right_arm/FT
diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg-FT_remapper.xml b/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg-FT_remapper.xml
new file mode 100644
index 0000000..e628419
--- /dev/null
+++ b/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg-FT_remapper.xml
@@ -0,0 +1,20 @@
+
+
+
+
+
+
+ (r_leg_ft_sensor r_foot_ft_sensor)
+
+
+ (r_leg_ft_sensor r_foot_ft_sensor)
+
+
+
+ icub_right_leg_ft
+ icub_right_foot_ft
+
+
+
+
+
\ No newline at end of file
diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml b/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg-FT_wrapper.xml
similarity index 61%
rename from simmechanics/data/icub3/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml
rename to simmechanics/data/icub2_5/conf/wrappers/FT/right_leg-FT_wrapper.xml
index 820e527..c75fc11 100644
--- a/simmechanics/data/icub3/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml
+++ b/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg-FT_wrapper.xml
@@ -2,16 +2,15 @@
-
- 10
- ${portprefix}/right_leg_hip
+
+ 10
+ ${portprefix}/right_leg/FT
- icub_right_leg_ft
+ right_leg-FT_remapper
-
diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml b/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml
deleted file mode 100644
index 820e527..0000000
--- a/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-
-
-
-
-
- 10
- ${portprefix}/right_leg_hip
-
-
-
- icub_right_leg_ft
-
-
-
-
-
-
diff --git a/simmechanics/data/icub3/conf/icub.xml b/simmechanics/data/icub3/conf/icub.xml
index f77376b..dc73585 100644
--- a/simmechanics/data/icub3/conf/icub.xml
+++ b/simmechanics/data/icub3/conf/icub.xml
@@ -20,14 +20,12 @@
-
-
-
-
+
+
+
+
-
-
diff --git a/simmechanics/data/icub3/conf/icub_ROS2.xml b/simmechanics/data/icub3/conf/icub_ROS2.xml
index f04568d..d2c677c 100644
--- a/simmechanics/data/icub3/conf/icub_ROS2.xml
+++ b/simmechanics/data/icub3/conf/icub_ROS2.xml
@@ -20,14 +20,12 @@
-
-
-
-
+
+
+
+
-
-
@@ -41,7 +39,7 @@
- -->
+
diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_wrapper.xml
index b757d59..b9b6320 100644
--- a/simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_wrapper.xml
+++ b/simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_wrapper.xml
@@ -4,7 +4,7 @@
10
- ${portprefix}/left_arm
+ ${portprefix}/left_arm/FT
diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_remapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_remapper.xml
deleted file mode 100644
index 4e17d1c..0000000
--- a/simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_remapper.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-
-
-
-
-
- (l_foot_rear_ft
- l_foot_front_ft)
-
-
-
- icub_left_foot_rear_ft
- icub_left_foot_front_ft
-
-
-
-
diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_wrapper.xml
deleted file mode 100644
index ded716b..0000000
--- a/simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_wrapper.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-
-
-
-
-
- 10
- ${portprefix}/left_foot_heel_tiptoe
-
-
-
- left_foot-FT_remapper
-
-
-
-
-
-
diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_remapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_remapper.xml
new file mode 100644
index 0000000..998e6e4
--- /dev/null
+++ b/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_remapper.xml
@@ -0,0 +1,21 @@
+
+
+
+
+
+
+ (l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor)
+
+
+ (l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor)
+
+
+
+ icub_left_leg_ft
+ icub_left_foot_rear_ft
+ icub_left_foot_front_ft
+
+
+
+
+
\ No newline at end of file
diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_wrapper.xml
similarity index 61%
rename from simmechanics/data/icub2_5/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml
rename to simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_wrapper.xml
index 07edf7b..5521247 100644
--- a/simmechanics/data/icub2_5/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml
+++ b/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_wrapper.xml
@@ -2,16 +2,15 @@
-
- 10
- ${portprefix}/left_leg_hip
+
+ 10
+ ${portprefix}/left_leg/FT
- icub_left_leg_ft
+ left_leg-FT_remapper
-
diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml
deleted file mode 100644
index 07edf7b..0000000
--- a/simmechanics/data/icub3/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-
-
-
-
-
- 10
- ${portprefix}/left_leg_hip
-
-
-
- icub_left_leg_ft
-
-
-
-
-
-
diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_wrapper.xml
index 2220e0b..940f08d 100644
--- a/simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_wrapper.xml
+++ b/simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_wrapper.xml
@@ -4,7 +4,7 @@
10
- ${portprefix}/right_arm
+ ${portprefix}/right_arm/FT
diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_remapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_remapper.xml
deleted file mode 100644
index 6958837..0000000
--- a/simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_remapper.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-
-
-
-
-
- (r_foot_rear_ft
- r_foot_front_ft)
-
-
-
- icub_right_foot_rear_ft
- icub_right_foot_front_ft
-
-
-
-
diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_wrapper.xml
deleted file mode 100644
index aa68ba4..0000000
--- a/simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_wrapper.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-
-
-
-
-
- 10
- ${portprefix}/right_foot_heel_tiptoe
-
-
-
- right_foot-FT_remapper
-
-
-
-
-
-
diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_remapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_remapper.xml
new file mode 100644
index 0000000..4a69763
--- /dev/null
+++ b/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_remapper.xml
@@ -0,0 +1,21 @@
+
+
+
+
+
+
+ (r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor)
+
+
+ (r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor)
+
+
+
+ icub_right_leg_ft
+ icub_right_foot_rear_ft
+ icub_right_foot_front_ft
+
+
+
+
+
\ No newline at end of file
diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/right_foot-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_wrapper.xml
similarity index 61%
rename from simmechanics/data/icub2_5/conf/wrappers/FT/right_foot-FT_wrapper.xml
rename to simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_wrapper.xml
index ffe4037..c75fc11 100644
--- a/simmechanics/data/icub2_5/conf/wrappers/FT/right_foot-FT_wrapper.xml
+++ b/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_wrapper.xml
@@ -2,16 +2,15 @@
-
- 10
- ${portprefix}/right_foot
+
+ 10
+ ${portprefix}/right_leg/FT
- icub_right_foot_ft
+ right_leg-FT_remapper
-