diff --git a/iCub/conf/wrappers/inertials/alljoints-inertials_remapper.xml b/iCub/conf/wrappers/inertials/alljoints-inertials_remapper.xml
index 742142a..44458d3 100644
--- a/iCub/conf/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/iCub/conf/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_remapper" type="multipleanalogsensorsremapper">
     <param name="OrientationSensorsNames">
-        (l_arm_ft r_arm_ft head_imu_0)
+        (head_imu_0 l_arm_ft_imu r_arm_ft_imu)
     </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf
index 1a9eee3..d7a31d4 100644
--- a/iCub/robots/iCubDarmstadt01/model.urdf
+++ b/iCub/robots/iCubDarmstadt01/model.urdf
@@ -1080,11 +1080,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_arm_ft"/>
-  <joint name="r_arm_ft_fixed_joint" type="fixed">
+  <link name="r_arm_ft_imu"/>
+  <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
     <parent link="r_shoulder_3"/>
-    <child link="r_arm_ft"/>
+    <child link="r_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
@@ -1507,11 +1507,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="l_arm_ft"/>
-  <joint name="l_arm_ft_fixed_joint" type="fixed">
+  <link name="l_arm_ft_imu"/>
+  <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
     <parent link="l_shoulder_3"/>
-    <child link="l_arm_ft"/>
+    <child link="l_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
@@ -2692,7 +2692,7 @@
     <origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
   </sensor>
   <gazebo reference="l_shoulder_3">
-    <sensor name="l_arm_ft" type="imu">
+    <sensor name="l_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
@@ -2701,12 +2701,12 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="l_arm_ft" type="accelerometer">
+  <sensor name="l_arm_ft_imu" type="accelerometer">
     <parent link="l_shoulder_3"/>
     <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
   </sensor>
   <gazebo reference="r_shoulder_3">
-    <sensor name="r_arm_ft" type="imu">
+    <sensor name="r_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
@@ -2715,7 +2715,7 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="r_arm_ft" type="accelerometer">
+  <sensor name="r_arm_ft_imu" type="accelerometer">
     <parent link="r_shoulder_3"/>
     <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
   </sensor>
diff --git a/iCub/robots/iCubErzelli02/model.urdf b/iCub/robots/iCubErzelli02/model.urdf
index f16d7ea..d282267 100644
--- a/iCub/robots/iCubErzelli02/model.urdf
+++ b/iCub/robots/iCubErzelli02/model.urdf
@@ -1080,11 +1080,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_arm_ft"/>
-  <joint name="r_arm_ft_fixed_joint" type="fixed">
+  <link name="r_arm_ft_imu"/>
+  <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
     <parent link="r_shoulder_3"/>
-    <child link="r_arm_ft"/>
+    <child link="r_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
@@ -1507,11 +1507,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="l_arm_ft"/>
-  <joint name="l_arm_ft_fixed_joint" type="fixed">
+  <link name="l_arm_ft_imu"/>
+  <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
     <parent link="l_shoulder_3"/>
-    <child link="l_arm_ft"/>
+    <child link="l_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
@@ -2692,7 +2692,7 @@
     <origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
   </sensor>
   <gazebo reference="l_shoulder_3">
-    <sensor name="l_arm_ft" type="imu">
+    <sensor name="l_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
@@ -2701,12 +2701,12 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="l_arm_ft" type="accelerometer">
+  <sensor name="l_arm_ft_imu" type="accelerometer">
     <parent link="l_shoulder_3"/>
     <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
   </sensor>
   <gazebo reference="r_shoulder_3">
-    <sensor name="r_arm_ft" type="imu">
+    <sensor name="r_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
@@ -2715,7 +2715,7 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="r_arm_ft" type="accelerometer">
+  <sensor name="r_arm_ft_imu" type="accelerometer">
     <parent link="r_shoulder_3"/>
     <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
   </sensor>
diff --git a/iCub/robots/iCubGazeboV2_5/model.urdf b/iCub/robots/iCubGazeboV2_5/model.urdf
index 66716c9..6ba4416 100644
--- a/iCub/robots/iCubGazeboV2_5/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5/model.urdf
@@ -1080,11 +1080,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
-  <link name="r_arm_ft"/>
-  <joint name="r_arm_ft_fixed_joint" type="fixed">
+  <link name="r_arm_ft_imu"/>
+  <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
     <parent link="r_shoulder_3"/>
-    <child link="r_arm_ft"/>
+    <child link="r_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
@@ -1507,11 +1507,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
-  <link name="l_arm_ft"/>
-  <joint name="l_arm_ft_fixed_joint" type="fixed">
+  <link name="l_arm_ft_imu"/>
+  <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
     <parent link="l_shoulder_3"/>
-    <child link="l_arm_ft"/>
+    <child link="l_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
@@ -2692,7 +2692,7 @@
     <origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
   </sensor>
   <gazebo reference="l_shoulder_3">
-    <sensor name="l_arm_ft" type="imu">
+    <sensor name="l_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
@@ -2701,12 +2701,12 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="l_arm_ft" type="accelerometer">
+  <sensor name="l_arm_ft_imu" type="accelerometer">
     <parent link="l_shoulder_3"/>
     <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
   </sensor>
   <gazebo reference="r_shoulder_3">
-    <sensor name="r_arm_ft" type="imu">
+    <sensor name="r_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
@@ -2715,7 +2715,7 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="r_arm_ft" type="accelerometer">
+  <sensor name="r_arm_ft_imu" type="accelerometer">
     <parent link="r_shoulder_3"/>
     <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
   </sensor>
diff --git a/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf b/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
index e4b0cd9..96448f1 100644
--- a/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
@@ -340,11 +340,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
-  <link name="r_arm_ft"/>
-  <joint name="r_arm_ft_fixed_joint" type="fixed">
+  <link name="r_arm_ft_imu"/>
+  <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
     <parent link="r_shoulder_3"/>
-    <child link="r_arm_ft"/>
+    <child link="r_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
@@ -767,11 +767,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
-  <link name="l_arm_ft"/>
-  <joint name="l_arm_ft_fixed_joint" type="fixed">
+  <link name="l_arm_ft_imu"/>
+  <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
     <parent link="l_shoulder_3"/>
-    <child link="l_arm_ft"/>
+    <child link="l_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
@@ -2321,7 +2321,7 @@
     <origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
   </sensor>
   <gazebo reference="l_shoulder_3">
-    <sensor name="l_arm_ft" type="imu">
+    <sensor name="l_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
@@ -2330,12 +2330,12 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="l_arm_ft" type="accelerometer">
+  <sensor name="l_arm_ft_imu" type="accelerometer">
     <parent link="l_shoulder_3"/>
     <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
   </sensor>
   <gazebo reference="r_shoulder_3">
-    <sensor name="r_arm_ft" type="imu">
+    <sensor name="r_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
@@ -2344,7 +2344,7 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="r_arm_ft" type="accelerometer">
+  <sensor name="r_arm_ft_imu" type="accelerometer">
     <parent link="r_shoulder_3"/>
     <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
   </sensor>
diff --git a/iCub/robots/iCubGazeboV2_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf
index c32d5c1..c97f3f8 100644
--- a/iCub/robots/iCubGazeboV2_6/model.urdf
+++ b/iCub/robots/iCubGazeboV2_6/model.urdf
@@ -1080,11 +1080,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
-  <link name="r_arm_ft"/>
-  <joint name="r_arm_ft_fixed_joint" type="fixed">
+  <link name="r_arm_ft_imu"/>
+  <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
     <parent link="r_shoulder_3"/>
-    <child link="r_arm_ft"/>
+    <child link="r_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
@@ -1507,11 +1507,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
-  <link name="l_arm_ft"/>
-  <joint name="l_arm_ft_fixed_joint" type="fixed">
+  <link name="l_arm_ft_imu"/>
+  <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
     <parent link="l_shoulder_3"/>
-    <child link="l_arm_ft"/>
+    <child link="l_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
@@ -2692,7 +2692,7 @@
     <origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
   </sensor>
   <gazebo reference="l_shoulder_3">
-    <sensor name="l_arm_ft" type="imu">
+    <sensor name="l_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
@@ -2701,12 +2701,12 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="l_arm_ft" type="accelerometer">
+  <sensor name="l_arm_ft_imu" type="accelerometer">
     <parent link="l_shoulder_3"/>
     <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
   </sensor>
   <gazebo reference="r_shoulder_3">
-    <sensor name="r_arm_ft" type="imu">
+    <sensor name="r_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
@@ -2715,7 +2715,7 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="r_arm_ft" type="accelerometer">
+  <sensor name="r_arm_ft_imu" type="accelerometer">
     <parent link="r_shoulder_3"/>
     <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
   </sensor>
diff --git a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf
index 76e6893..ce65f88 100644
--- a/iCub/robots/iCubGazeboV2_7/model.urdf
+++ b/iCub/robots/iCubGazeboV2_7/model.urdf
@@ -1080,11 +1080,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
-  <link name="r_arm_ft"/>
-  <joint name="r_arm_ft_fixed_joint" type="fixed">
+  <link name="r_arm_ft_imu"/>
+  <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
     <parent link="r_shoulder_3"/>
-    <child link="r_arm_ft"/>
+    <child link="r_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
@@ -1507,11 +1507,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="1.0" friction="0.0"/>
   </joint>
-  <link name="l_arm_ft"/>
-  <joint name="l_arm_ft_fixed_joint" type="fixed">
+  <link name="l_arm_ft_imu"/>
+  <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
     <parent link="l_shoulder_3"/>
-    <child link="l_arm_ft"/>
+    <child link="l_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
@@ -2708,7 +2708,7 @@
     <origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
   </sensor>
   <gazebo reference="l_shoulder_3">
-    <sensor name="l_arm_ft" type="imu">
+    <sensor name="l_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
@@ -2717,12 +2717,12 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="l_arm_ft" type="accelerometer">
+  <sensor name="l_arm_ft_imu" type="accelerometer">
     <parent link="l_shoulder_3"/>
     <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
   </sensor>
   <gazebo reference="r_shoulder_3">
-    <sensor name="r_arm_ft" type="imu">
+    <sensor name="r_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
@@ -2731,7 +2731,7 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="r_arm_ft" type="accelerometer">
+  <sensor name="r_arm_ft_imu" type="accelerometer">
     <parent link="r_shoulder_3"/>
     <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
   </sensor>
diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf
index 1a9eee3..d7a31d4 100644
--- a/iCub/robots/iCubGenova01/model.urdf
+++ b/iCub/robots/iCubGenova01/model.urdf
@@ -1080,11 +1080,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_arm_ft"/>
-  <joint name="r_arm_ft_fixed_joint" type="fixed">
+  <link name="r_arm_ft_imu"/>
+  <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
     <parent link="r_shoulder_3"/>
-    <child link="r_arm_ft"/>
+    <child link="r_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
@@ -1507,11 +1507,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="l_arm_ft"/>
-  <joint name="l_arm_ft_fixed_joint" type="fixed">
+  <link name="l_arm_ft_imu"/>
+  <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
     <parent link="l_shoulder_3"/>
-    <child link="l_arm_ft"/>
+    <child link="l_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
@@ -2692,7 +2692,7 @@
     <origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
   </sensor>
   <gazebo reference="l_shoulder_3">
-    <sensor name="l_arm_ft" type="imu">
+    <sensor name="l_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
@@ -2701,12 +2701,12 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="l_arm_ft" type="accelerometer">
+  <sensor name="l_arm_ft_imu" type="accelerometer">
     <parent link="l_shoulder_3"/>
     <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
   </sensor>
   <gazebo reference="r_shoulder_3">
-    <sensor name="r_arm_ft" type="imu">
+    <sensor name="r_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
@@ -2715,7 +2715,7 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="r_arm_ft" type="accelerometer">
+  <sensor name="r_arm_ft_imu" type="accelerometer">
     <parent link="r_shoulder_3"/>
     <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
   </sensor>
diff --git a/iCub/robots/iCubGenova02/model.urdf b/iCub/robots/iCubGenova02/model.urdf
index e31d13b..717a02c 100644
--- a/iCub/robots/iCubGenova02/model.urdf
+++ b/iCub/robots/iCubGenova02/model.urdf
@@ -340,11 +340,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_arm_ft"/>
-  <joint name="r_arm_ft_fixed_joint" type="fixed">
+  <link name="r_arm_ft_imu"/>
+  <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
     <parent link="r_shoulder_3"/>
-    <child link="r_arm_ft"/>
+    <child link="r_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
@@ -767,11 +767,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="l_arm_ft"/>
-  <joint name="l_arm_ft_fixed_joint" type="fixed">
+  <link name="l_arm_ft_imu"/>
+  <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
     <parent link="l_shoulder_3"/>
-    <child link="l_arm_ft"/>
+    <child link="l_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
@@ -2321,7 +2321,7 @@
     <origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
   </sensor>
   <gazebo reference="l_shoulder_3">
-    <sensor name="l_arm_ft" type="imu">
+    <sensor name="l_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
@@ -2330,12 +2330,12 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="l_arm_ft" type="accelerometer">
+  <sensor name="l_arm_ft_imu" type="accelerometer">
     <parent link="l_shoulder_3"/>
     <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
   </sensor>
   <gazebo reference="r_shoulder_3">
-    <sensor name="r_arm_ft" type="imu">
+    <sensor name="r_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
@@ -2344,7 +2344,7 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="r_arm_ft" type="accelerometer">
+  <sensor name="r_arm_ft_imu" type="accelerometer">
     <parent link="r_shoulder_3"/>
     <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
   </sensor>
diff --git a/iCub/robots/iCubGenova04/model.urdf b/iCub/robots/iCubGenova04/model.urdf
index f16d7ea..d282267 100644
--- a/iCub/robots/iCubGenova04/model.urdf
+++ b/iCub/robots/iCubGenova04/model.urdf
@@ -1080,11 +1080,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_arm_ft"/>
-  <joint name="r_arm_ft_fixed_joint" type="fixed">
+  <link name="r_arm_ft_imu"/>
+  <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
     <parent link="r_shoulder_3"/>
-    <child link="r_arm_ft"/>
+    <child link="r_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
@@ -1507,11 +1507,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="l_arm_ft"/>
-  <joint name="l_arm_ft_fixed_joint" type="fixed">
+  <link name="l_arm_ft_imu"/>
+  <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
     <parent link="l_shoulder_3"/>
-    <child link="l_arm_ft"/>
+    <child link="l_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
@@ -2692,7 +2692,7 @@
     <origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
   </sensor>
   <gazebo reference="l_shoulder_3">
-    <sensor name="l_arm_ft" type="imu">
+    <sensor name="l_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
@@ -2701,12 +2701,12 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="l_arm_ft" type="accelerometer">
+  <sensor name="l_arm_ft_imu" type="accelerometer">
     <parent link="l_shoulder_3"/>
     <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
   </sensor>
   <gazebo reference="r_shoulder_3">
-    <sensor name="r_arm_ft" type="imu">
+    <sensor name="r_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
@@ -2715,7 +2715,7 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="r_arm_ft" type="accelerometer">
+  <sensor name="r_arm_ft_imu" type="accelerometer">
     <parent link="r_shoulder_3"/>
     <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
   </sensor>
diff --git a/iCub/robots/iCubGenova11/model.urdf b/iCub/robots/iCubGenova11/model.urdf
index 330ad3f..d39597b 100644
--- a/iCub/robots/iCubGenova11/model.urdf
+++ b/iCub/robots/iCubGenova11/model.urdf
@@ -1080,11 +1080,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_arm_ft"/>
-  <joint name="r_arm_ft_fixed_joint" type="fixed">
+  <link name="r_arm_ft_imu"/>
+  <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
     <parent link="r_shoulder_3"/>
-    <child link="r_arm_ft"/>
+    <child link="r_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
@@ -1507,11 +1507,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="l_arm_ft"/>
-  <joint name="l_arm_ft_fixed_joint" type="fixed">
+  <link name="l_arm_ft_imu"/>
+  <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
     <parent link="l_shoulder_3"/>
-    <child link="l_arm_ft"/>
+    <child link="l_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
@@ -2708,7 +2708,7 @@
     <origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
   </sensor>
   <gazebo reference="l_shoulder_3">
-    <sensor name="l_arm_ft" type="imu">
+    <sensor name="l_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
@@ -2717,12 +2717,12 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="l_arm_ft" type="accelerometer">
+  <sensor name="l_arm_ft_imu" type="accelerometer">
     <parent link="l_shoulder_3"/>
     <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
   </sensor>
   <gazebo reference="r_shoulder_3">
-    <sensor name="r_arm_ft" type="imu">
+    <sensor name="r_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
@@ -2731,7 +2731,7 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="r_arm_ft" type="accelerometer">
+  <sensor name="r_arm_ft_imu" type="accelerometer">
     <parent link="r_shoulder_3"/>
     <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
   </sensor>
diff --git a/iCub/robots/iCubWaterloo01/model.urdf b/iCub/robots/iCubWaterloo01/model.urdf
index 330ad3f..d39597b 100644
--- a/iCub/robots/iCubWaterloo01/model.urdf
+++ b/iCub/robots/iCubWaterloo01/model.urdf
@@ -1080,11 +1080,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_arm_ft"/>
-  <joint name="r_arm_ft_fixed_joint" type="fixed">
+  <link name="r_arm_ft_imu"/>
+  <joint name="r_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
     <parent link="r_shoulder_3"/>
-    <child link="r_arm_ft"/>
+    <child link="r_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
@@ -1507,11 +1507,11 @@
     <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="l_arm_ft"/>
-  <joint name="l_arm_ft_fixed_joint" type="fixed">
+  <link name="l_arm_ft_imu"/>
+  <joint name="l_arm_ft_imu_fixed_joint" type="fixed">
     <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
     <parent link="l_shoulder_3"/>
-    <child link="l_arm_ft"/>
+    <child link="l_arm_ft_imu"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
@@ -2708,7 +2708,7 @@
     <origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
   </sensor>
   <gazebo reference="l_shoulder_3">
-    <sensor name="l_arm_ft" type="imu">
+    <sensor name="l_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>0.05093014324520106 1.3877787807814457e-17 0.029175829465900395 -4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922</pose>
@@ -2717,12 +2717,12 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="l_arm_ft" type="accelerometer">
+  <sensor name="l_arm_ft_imu" type="accelerometer">
     <parent link="l_shoulder_3"/>
     <origin rpy="-4.3625653762663687e-16 -1.3089970069677406 -3.1415926535897922" xyz="0.05093014324520106 1.3877787807814457e-17 0.029175829465900395"/>
   </sensor>
   <gazebo reference="r_shoulder_3">
-    <sensor name="r_arm_ft" type="imu">
+    <sensor name="r_arm_ft_imu" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
       <pose>-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215 -6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16</pose>
@@ -2731,7 +2731,7 @@
 </plugin>
     </sensor>
   </gazebo>
-  <sensor name="r_arm_ft" type="accelerometer">
+  <sensor name="r_arm_ft_imu" type="accelerometer">
     <parent link="r_shoulder_3"/>
     <origin rpy="-6.358700866473837e-16 -1.3089970069677404 6.58301142551668e-16" xyz="-0.05089730176650909 1.3877787807814457e-17 0.029167029620599215"/>
   </sensor>