diff --git a/iCubGrenoble01/calibrators/face_calib.xml b/iCubGrenoble01/calibrators/face_calib.xml
index e9b22e2f15..375f514b1e 100644
--- a/iCubGrenoble01/calibrators/face_calib.xml
+++ b/iCubGrenoble01/calibrators/face_calib.xml
@@ -1,38 +1,46 @@
-<?xml version="1.0" encoding="UTF-8" ?>    
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">               
-               
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="face_calibrator" type="parametricCalibrator">        
-                             
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
+        <xi:include href="../general.xml" />
+
         <group name="GENERAL">             
             <param name="joints"> 6 </param>             
             <param name="deviceName"> TalkingFace_Calibrator </param>  
         </group>             
  
+<group name="HOME">          
+<param name="positionHome"> 15            -175             -6             0             -6            11             </param>       
+<param name="velocityHome"> 10            50            10            10            10            10            </param>       
+</group>    
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             0             0             0             0             </param>       
 <param name="calibration1">               2047.5        2047.5        800           400           400           900           </param>       
 <param name="calibration2">               10            10            -20           10            20            20            </param>       
-<param name="calibration3">               1535.625      1592.5        0             0             0             0             </param>       
+<param name="calibration3">               1535.625      1592.5        0             0             0             0             </param>  
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>     
 <param name="startupPosition">               15            0             -6            28            -6            0             </param>       
 <param name="startupVelocity">               10            10            10           10            10            10            </param>       
 <param name="startupMaxPwm">                     0             0             0             0             0             0             </param>       
 <param name="startupPosThreshold">           90            90            90            90            90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> 15            -175             -6             0             -6            11             </param>       
-<param name="velocityHome"> 10            50            10            10            10            10            </param>       
-</group>       
+   
  
         <param name="CALIB_ORDER"> (0 1 2 3 4 5) </param>              
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">face_mc_wrapper</param>               
+            <param name="target">face-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">face_mc_wrapper</param>               
+            <param name="target">face-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubGrenoble01/calibrators/head_calib.xml b/iCubGrenoble01/calibrators/head_calib.xml
index ca954fed58..0d6181790c 100644
--- a/iCubGrenoble01/calibrators/head_calib.xml
+++ b/iCubGrenoble01/calibrators/head_calib.xml
@@ -1,38 +1,46 @@
-<?xml version="1.0" encoding="UTF-8" ?>    
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">               
-               
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">        
-                             
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
+        <xi:include href="../general.xml" />
+
         <group name="GENERAL">             
             <param name="joints"> 6 </param>             
             <param name="deviceName"> TalkingHead_Calibrator </param>  
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> -30           0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group>   
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             3             0             0             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        2047.5        900           900           </param>       
 <param name="calibration2">               10            10            10            10            20            20            </param>       
-<param name="calibration3">               154.7         503.9125      2951.813      773.5         0             0             </param>       
+<param name="calibration3">               154.7         503.9125      2951.813      773.5         0             0             </param> 
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>      
 <param name="startupPosition">               0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            10            10            10            </param>       
 <param name="startupMaxPwm">                     120           120           0             0             0             0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> -30           0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>       
+    
  
         <param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param>          
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubGrenoble01/calibrators/left_arm_calib.xml b/iCubGrenoble01/calibrators/left_arm_calib.xml
index 3e445aba7f..ac5749ca97 100644
--- a/iCubGrenoble01/calibrators/left_arm_calib.xml
+++ b/iCubGrenoble01/calibrators/left_arm_calib.xml
@@ -1,38 +1,47 @@
-<?xml version="1.0" encoding="UTF-8" ?>    
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">               
-               
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_calibrator" type="parametricCalibrator">    
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
+        <xi:include href="../general.xml" />
+ 
  
         <group name="GENERAL">             
             <param name="joints"> 8 </param>             
             <param name="deviceName"> Left_Arm_Calibrator </param>     
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> -30           30            0             45            0             0             0             15            </param>       
+<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
+</group>   
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             3             0             3             3             3             </param>       
 <param name="calibration1">               2388.75       3241.875      2047.5        1535.625      1000          2047.5        2047.5        2160          </param>       
 <param name="calibration2">               10            10            10            10            20            10            10            100           </param>       
-<param name="calibration3">               461.825       1682.363      3514.875      459.55        0             1971.288      1197.788      0             </param>       
+<param name="calibration3">               461.825       1682.363      3514.875      459.55        0             1971.288      1197.788      0             </param>  
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>     
 <param name="startupPosition">               -30           30            0             45            0             0             0             15            </param>       
 <param name="startupVelocity">               10            10            10            10            30            10            10            100           </param>       
 <param name="startupMaxPwm">                     120           120           120           120           0             0             0             0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> -30           30            0             45            0             0             0             15            </param>       
-<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
-</group>       
+    
  
         <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>        
  
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_arm_mc_wrapper</param>     
+            <param name="target">left_arm-mc_remapper</param>     
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_arm_mc_wrapper</param>     
+            <param name="target">left_arm-mc_remapper</param>     
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubGrenoble01/calibrators/left_hand_calib.xml b/iCubGrenoble01/calibrators/left_hand_calib.xml
index 516634f001..a48444f082 100644
--- a/iCubGrenoble01/calibrators/left_hand_calib.xml
+++ b/iCubGrenoble01/calibrators/left_hand_calib.xml
@@ -1,38 +1,46 @@
-<?xml version="1.0" encoding="UTF-8" ?>    
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">               
-               
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_hand_calibrator" type="parametricCalibrator">   
- 
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
+        <xi:include href="../general.xml" />
+
         <group name="GENERAL">             
             <param name="joints"> 8 </param>             
             <param name="deviceName"> Left_Hand_Calibrator </param>    
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
+</group> 
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             4             4             4             4             4             4             4             </param>       
 <param name="calibration1">               1326.67       195           20            248           10            248           50            700           </param>       
 <param name="calibration2">               10            10            30            10            10            10            10            10            </param>       
-<param name="calibration3">               0             6000          -8000         6000          7400          6000          -7400         -14000        </param>       
+<param name="calibration3">               0             6000          -8000         6000          7400          6000          -7400         -14000        </param>   
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>    
 <param name="startupPosition">               30            3             0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               100           100           100           100           100           100           100           100           </param>       
 <param name="startupMaxPwm">                     0             0             0             0             0             0             0             0             </param>       
 <param name="startupPosThreshold">           90            90            90            90            90            90            90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
-</group>       
+      
  
         <param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_hand_mc</param>    
+            <param name="target">left_hand-mc</param>    
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_hand_mc</param>    
+            <param name="target">left_hand-mc</param>    
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubGrenoble01/calibrators/left_leg_calib.xml b/iCubGrenoble01/calibrators/left_leg_calib.xml
index 67c0d90a06..63faa30851 100644
--- a/iCubGrenoble01/calibrators/left_leg_calib.xml
+++ b/iCubGrenoble01/calibrators/left_leg_calib.xml
@@ -1,38 +1,46 @@
-<?xml version="1.0" encoding="UTF-8" ?>    
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">               
-               
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_calibrator" type="parametricCalibrator">    
- 
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
+        <xi:include href="../general.xml" />
+
         <group name="GENERAL">             
             <param name="joints">  6  </param>           
             <param name="deviceName"> Left_Leg_Calibrator </param>     
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> 0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group>   
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             3             3             3             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        2047.5        2047.5        2047.5        </param>       
 <param name="calibration2">               10            10            10            10            10            10            </param>       
-<param name="calibration3">               2402.4        1223.95       1007.825      1973.563      2330.738      1415.05       </param>       
+<param name="calibration3">               2402.4        1223.95       1007.825      1973.563      2330.738      1415.05       </param> 
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>      
 <param name="startupPosition">               0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            10            10            10            </param>       
 <param name="startupMaxPwm">                     120           120           120           120           120           120           </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> 0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>       
+    
  
         <param name="CALIB_ORDER">(0 1 2 3 4 5) </param>               
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_leg_mc_wrapper</param>           
+            <param name="target">left_leg-mc_remapper</param>           
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_leg_mc_wrapper</param>           
+            <param name="target">left_leg-mc_remapper</param>           
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubGrenoble01/calibrators/right_arm_calib.xml b/iCubGrenoble01/calibrators/right_arm_calib.xml
index a092cd5cb6..1610ec5838 100644
--- a/iCubGrenoble01/calibrators/right_arm_calib.xml
+++ b/iCubGrenoble01/calibrators/right_arm_calib.xml
@@ -1,38 +1,46 @@
-<?xml version="1.0" encoding="UTF-8" ?>    
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">               
-               
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_calibrator" type="parametricCalibrator">   
- 
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
+        <xi:include href="../general.xml" />
+
         <group name="GENERAL">             
             <param name="joints"> 8 </param>             
             <param name="deviceName"> Right_Arm_Calibrator </param>    
         </group>             
- 
+
+<group name="HOME">          
+<param name="positionHome"> -30           30            0             45            0             0             0             15            </param>       
+<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
+</group>    
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             3             0             3             3             3             </param>       
 <param name="calibration1">               1706.25       853.13        2047.50       2559.38       900.00        2047.50       2047.50       2430.00       </param>       
 <param name="calibration2">               10.00         10.00         10.00         10.00         -20.00        10.00         10.00         100.00        </param>       
-<param name="calibration3">               216.13        3076.94       4056.33       702.98        0.00          2061.15       3282.83       0.00          </param>       
+<param name="calibration3">               216.13        3076.94       4056.33       702.98        0.00          2061.15       3282.83       0.00          </param>   
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>    
 <param name="startupPosition">               -30           30            0             45            0             0             0             15            </param>       
 <param name="startupVelocity">               10            10            10            10            30            10            10            100           </param>       
 <param name="startupMaxPwm">                     120           120           120           120           0             0             0             0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> -30           30            0             45            0             0             0             15            </param>       
-<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
-</group>       
+    
  
        <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_arm_mc_wrapper</param>    
+            <param name="target">right_arm-mc_remapper</param>    
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_arm_mc_wrapper</param>    
+            <param name="target">right_arm-mc_remapper</param>    
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubGrenoble01/calibrators/right_hand_calib.xml b/iCubGrenoble01/calibrators/right_hand_calib.xml
index eac51ed6e0..99706923f3 100644
--- a/iCubGrenoble01/calibrators/right_hand_calib.xml
+++ b/iCubGrenoble01/calibrators/right_hand_calib.xml
@@ -1,38 +1,45 @@
-<?xml version="1.0" encoding="UTF-8" ?>    
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">               
-               
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_hand_calibrator" type="parametricCalibrator">  
- 
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
+        <xi:include href="../general.xml" />
+
         <group name="GENERAL">             
             <param name="joints"> 8 </param>             
             <param name="deviceName"> Right_Hand_Calibrator </param>   
         </group>             
- 
+  
+<group name="HOME">          
+<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
+</group> 
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             4             4             4             4             4             4             4             </param>       
 <param name="calibration1">               1265.56       255.00        20.00         255.00        10.00         230.00        25.00         730.00        </param>       
 <param name="calibration2">               10.00         10.00         30.00         10.00         10.00         10.00         10.00         10.00         </param>       
-<param name="calibration3">               0.00          6000.00       8000.00       6000.00       -7400.00      6000.00       7400.00       14000.00      </param>       
+<param name="calibration3">               0.00          6000.00       8000.00       6000.00       -7400.00      6000.00       7400.00       14000.00      </param>  
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>     
 <param name="startupPosition">               30            3             0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               100           100           100           100           100           100           100           100           </param>       
 <param name="startupMaxPwm">                     0             0             0             0             0             0             0             0             </param>       
 <param name="startupPosThreshold">           90            90            90            90            90            90            90            90            </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
-</group>       
+      
  
         <param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_hand_mc</param>   
+            <param name="target">right_hand-mc</param>   
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_hand_mc</param>   
+            <param name="target">right_hand-mc</param>   
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubGrenoble01/calibrators/right_leg_calib.xml b/iCubGrenoble01/calibrators/right_leg_calib.xml
index 38136511dc..edb95e0472 100644
--- a/iCubGrenoble01/calibrators/right_leg_calib.xml
+++ b/iCubGrenoble01/calibrators/right_leg_calib.xml
@@ -1,38 +1,46 @@
-<?xml version="1.0" encoding="UTF-8" ?>    
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">               
-               
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg_calibrator" type="parametricCalibrator">   
-                             
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
+        <xi:include href="../general.xml" />
+                      
         <group name="GENERAL">             
             <param name="joints">  6  </param>           
             <param name="deviceName"> Right_Leg_Calibrator </param>    
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> 0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group> 
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             3             3             3             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        2047.5        2047.5        2047.5        </param>       
 <param name="calibration2">               10            10            10            10            10            10            </param>       
-<param name="calibration3">               3207.75       2869.913      3538.763      2069.113      2850.575      2588.95       </param>       
+<param name="calibration3">               3207.75       2869.913      3538.763      2069.113      2850.575      2588.95       </param> 
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>      
 <param name="startupPosition">               0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            10            10            10            </param>       
 <param name="startupMaxPwm">                     120           120           120           120           120           120           </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> 0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>       
+      
  
         <param name="CALIB_ORDER">(0 1 2 3 4 5) </param>               
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_leg_mc_wrapper</param>          
+            <param name="target">right_leg-mc_remapper</param>          
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_leg_mc_wrapper</param>          
+            <param name="target">right_leg-mc_remapper</param>          
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubGrenoble01/calibrators/torso_calib.xml b/iCubGrenoble01/calibrators/torso_calib.xml
index e8008664af..4d2a68d295 100644
--- a/iCubGrenoble01/calibrators/torso_calib.xml
+++ b/iCubGrenoble01/calibrators/torso_calib.xml
@@ -1,38 +1,46 @@
-<?xml version="1.0" encoding="UTF-8" ?>    
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">               
-               
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso_calibrator" type="parametricCalibrator">       
-                             
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
+        <xi:include href="../general.xml" />
+                 
         <group name="GENERAL">             
             <param name="joints"> 4 </param>             
             <param name="deviceName"> Torso_Calibrator </param>        
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> 0             0             -20           0             </param>       
+<param name="velocityHome"> 10            10            10            0             </param>       
+</group>  
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             0             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        0             </param>       
 <param name="calibration2">               10            10            10            0             </param>       
-<param name="calibration3">               170.625       3253.25       3799.25       0             </param>       
+<param name="calibration3">               170.625       3253.25       3799.25       0             </param> 
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>      
 <param name="startupPosition">               0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            0             </param>       
 <param name="startupMaxPwm">                     120           120           120           0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> 0             0             -20           0             </param>       
-<param name="velocityHome"> 10            10            10            0             </param>       
-</group>       
+     
  
        <param name="CALIB_ORDER"> (0 1 2) </param>       
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">torso_mc_wrapper</param>              
+            <param name="target">torso-mc_remapper</param>              
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">torso_mc_wrapper</param>              
+            <param name="target">torso-mc_remapper</param>              
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubGrenoble01/cartesian/left_arm_cartesian.xml b/iCubGrenoble01/cartesian/left_arm_cartesian.xml
index c3aee20629..7baf5664e5 100644
--- a/iCubGrenoble01/cartesian/left_arm_cartesian.xml
+++ b/iCubGrenoble01/cartesian/left_arm_cartesian.xml
@@ -45,8 +45,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="left_arm">left_arm_mc_wrapper</elem>
+                <elem name="torso">torso_mc_remapper</elem>
+                <elem name="left_arm">left_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubGrenoble01/cartesian/right_arm_cartesian.xml b/iCubGrenoble01/cartesian/right_arm_cartesian.xml
index 653fbfab89..202b854fc5 100644
--- a/iCubGrenoble01/cartesian/right_arm_cartesian.xml
+++ b/iCubGrenoble01/cartesian/right_arm_cartesian.xml
@@ -45,8 +45,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="right_arm">right_arm_mc_wrapper</elem>
+                <elem name="torso">torso_mc_remapper</elem>
+                <elem name="right_arm">right_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubGrenoble01/icub_all.xml b/iCubGrenoble01/icub_all.xml
index 3fca0ffc4e..7abf3eee03 100644
--- a/iCubGrenoble01/icub_all.xml
+++ b/iCubGrenoble01/icub_all.xml
@@ -8,13 +8,22 @@
     <xi:include href="cartesian/right_arm_cartesian.xml" />
 
     <!-- motor controllers wrappers -->
-    <xi:include href="wrappers/motorControl/left_arm_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/right_arm_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/left_leg_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/right_leg_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/head_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/face_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/torso_mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/face-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
+    
+    <xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/face-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
+
     <xi:include href="hardware/motorControl/icub_left_arm.xml" />
     <xi:include href="hardware/motorControl/icub_left_hand.xml" />
     <xi:include href="hardware/motorControl/icub_right_arm.xml" />
diff --git a/iCubGrenoble01/wrappers/motorControl/face-mc_remapper.xml b/iCubGrenoble01/wrappers/motorControl/face-mc_remapper.xml
new file mode 100644
index 0000000000..a086ee8c32
--- /dev/null
+++ b/iCubGrenoble01/wrappers/motorControl/face-mc_remapper.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="face-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="face_joints">(  0  5  0  5 )</elem>
+    </paramlist>
+    <param name="joints"> 6                   </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="face_joints">  face_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubGrenoble01/wrappers/motorControl/face-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/face-mc_wrapper.xml
new file mode 100644
index 0000000000..d5c45c73bf
--- /dev/null
+++ b/iCubGrenoble01/wrappers/motorControl/face-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="face-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/face   </param>
+    <action phase="startup" level="10" type="attach">
+            <param name="device">  face-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubGrenoble01/wrappers/motorControl/face_mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/face_mc_wrapper.xml
deleted file mode 100644
index f7de2ec701..0000000000
--- a/iCubGrenoble01/wrappers/motorControl/face_mc_wrapper.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="face_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="face_joints">(  0 5 0 5 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/face   </param>
-    <param name="ports">  face        </param>
-    <param name="joints"> 6           </param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="face_joints">  face_mc </elem>
-            <elem name="Calibrator"> TalkingFace_Calibrator </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubPisa01/wrappers/motorControl/head_mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/head-mc_remapper.xml
similarity index 50%
rename from iCubPisa01/wrappers/motorControl/head_mc_wrapper.xml
rename to iCubGrenoble01/wrappers/motorControl/head-mc_remapper.xml
index b219920b04..2ecf8ef188 100644
--- a/iCubPisa01/wrappers/motorControl/head_mc_wrapper.xml
+++ b/iCubGrenoble01/wrappers/motorControl/head-mc_remapper.xml
@@ -1,17 +1,15 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_mc_wrapper" type="controlboardwrapper2">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
-        <elem name="head_joints">(  0 5 0 5 )</elem>
+        <elem name="head_joints">(  0  5  0  5 )</elem>
     </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/head   </param>
-    <param name="ports">  head        </param>
-    <param name="joints"> 6           </param>
+    <param name="joints"> 6                   </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
             <elem name="head_joints">  head_mc </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubGrenoble01/wrappers/motorControl/head-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/head-mc_wrapper.xml
new file mode 100644
index 0000000000..06e2825805
--- /dev/null
+++ b/iCubGrenoble01/wrappers/motorControl/head-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/head   </param>
+    <action phase="startup" level="10" type="attach">
+            <param name="device">  head-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubGrenoble01/wrappers/motorControl/head_mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/head_mc_wrapper.xml
deleted file mode 100644
index 1fdd85c3e4..0000000000
--- a/iCubGrenoble01/wrappers/motorControl/head_mc_wrapper.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="head_joints">(  0 5 0 5 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/head   </param>
-    <param name="ports">  head        </param>
-    <param name="joints"> 6           </param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="head_joints">  head_mc </elem>
-            <elem name="Calibrator"> TalkingHead_Calibrator </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubPisa01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/left_arm-mc_remapper.xml
similarity index 63%
rename from iCubPisa01/wrappers/motorControl/left_arm_mc_wrapper.xml
rename to iCubGrenoble01/wrappers/motorControl/left_arm-mc_remapper.xml
index f0053ddfce..b153e07c3c 100644
--- a/iCubPisa01/wrappers/motorControl/left_arm_mc_wrapper.xml
+++ b/iCubGrenoble01/wrappers/motorControl/left_arm-mc_remapper.xml
@@ -1,19 +1,17 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_mc_wrapper" type="controlboardwrapper2">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="left_arm_joints">(  0  7  0  7 )</elem>
         <elem name="left_hand_joints">( 8 15  0  7 )</elem>
     </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/left_arm   </param>
-    <param name="ports">  left_arm		</param>
-    <param name="joints"> 16			</param>
+    <param name="joints"> 16 </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
-            <elem name="left_arm_joints">  left_arm_mc </elem>
+            <elem name="left_arm_joints"> left_arm_mc </elem>
             <elem name="left_hand_joints"> left_hand_mc </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubGrenoble01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/left_arm-mc_wrapper.xml
new file mode 100644
index 0000000000..caf7f8bb4b
--- /dev/null
+++ b/iCubGrenoble01/wrappers/motorControl/left_arm-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/left_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> left_arm-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubPlymouth01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/left_leg-mc_remapper.xml
similarity index 65%
rename from iCubPlymouth01/wrappers/motorControl/left_leg_mc_wrapper.xml
rename to iCubGrenoble01/wrappers/motorControl/left_leg-mc_remapper.xml
index 9e0b0537a6..04e89de94d 100644
--- a/iCubPlymouth01/wrappers/motorControl/left_leg_mc_wrapper.xml
+++ b/iCubGrenoble01/wrappers/motorControl/left_leg-mc_remapper.xml
@@ -1,16 +1,14 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_mc_wrapper" type="controlboardwrapper2">
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="left_leg_joints">(  0  5  0  5 )</elem>
     </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/left_leg   </param>
-    <param name="ports">  left_leg            </param>
     <param name="joints"> 6                   </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
             <elem name="left_leg_joints">  left_leg_mc </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubGrenoble01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/left_leg-mc_wrapper.xml
new file mode 100644
index 0000000000..64e5ab7e13
--- /dev/null
+++ b/iCubGrenoble01/wrappers/motorControl/left_leg-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/left_leg </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> left_leg-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubLugano01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/right_arm-mc_remapper.xml
similarity index 63%
rename from iCubLugano01/wrappers/motorControl/right_arm_mc_wrapper.xml
rename to iCubGrenoble01/wrappers/motorControl/right_arm-mc_remapper.xml
index 70c0701304..8354c4b8f6 100644
--- a/iCubLugano01/wrappers/motorControl/right_arm_mc_wrapper.xml
+++ b/iCubGrenoble01/wrappers/motorControl/right_arm-mc_remapper.xml
@@ -1,19 +1,17 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_mc_wrapper" type="controlboardwrapper2">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="right_arm_joints">(  0  7  0  7 )</elem>
         <elem name="right_hand_joints">( 8 15  0  7 )</elem>
     </paramlist>
-    <param name="period"> 10 			</param>
-    <param name="name">   /icub/right_arm	</param>
-    <param name="ports">  right_arm		</param>
-    <param name="joints"> 16			</param>
+    <param name="joints"> 16 </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
-            <elem name="right_arm_joints">  right_arm_mc </elem>
+            <elem name="right_arm_joints"> right_arm_mc </elem>
             <elem name="right_hand_joints"> right_hand_mc </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubGrenoble01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/right_arm-mc_wrapper.xml
new file mode 100644
index 0000000000..15bc4d3c12
--- /dev/null
+++ b/iCubGrenoble01/wrappers/motorControl/right_arm-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/right_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> right_arm-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubGrenoble01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubGrenoble01/wrappers/motorControl/right_leg-mc_remapper.xml
new file mode 100644
index 0000000000..a50e5a5c11
--- /dev/null
+++ b/iCubGrenoble01/wrappers/motorControl/right_leg-mc_remapper.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="right_leg_oints">(  0  5  0  5 )</elem>
+    </paramlist>
+    <param name="joints"> 6                   </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="right_leg_joints">  right_leg_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubGrenoble01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/right_leg-mc_wrapper.xml
new file mode 100644
index 0000000000..63ef3cb4a7
--- /dev/null
+++ b/iCubGrenoble01/wrappers/motorControl/right_leg-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/right_leg </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> right_leg-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubGrenoble01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/right_leg_mc_wrapper.xml
deleted file mode 100644
index 2c9b0f7163..0000000000
--- a/iCubGrenoble01/wrappers/motorControl/right_leg_mc_wrapper.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="right_joints">(  0  5  0  5 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/right_leg   </param>
-    <param name="ports">  right_leg		</param>
-    <param name="joints"> 6			</param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="right_joints">  right_leg_mc </elem>
-            <elem name="Calibrator"> right_leg_calibrator </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubLethbridge01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/torso-mc_remapper.xml
similarity index 59%
rename from iCubLethbridge01/wrappers/motorControl/torso_mc_wrapper.xml
rename to iCubGrenoble01/wrappers/motorControl/torso-mc_remapper.xml
index 818eb42bc1..21dabf94fa 100644
--- a/iCubLethbridge01/wrappers/motorControl/torso_mc_wrapper.xml
+++ b/iCubGrenoble01/wrappers/motorControl/torso-mc_remapper.xml
@@ -1,18 +1,15 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso_mc_wrapper" type="controlboardwrapper2">
-    <param name="threadrate">  10  </param>
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="torso_joints">(  0 2 0 2 )</elem>
     </paramlist>
-    <param name="period"> 10 			</param>
-    <param name="name">   icub/torso		</param>
-    <param name="ports">  torso		</param>
     <param name="joints"> 3			</param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
             <elem name="torso_joints">  torso_mc </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubGrenoble01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubGrenoble01/wrappers/motorControl/torso-mc_wrapper.xml
new file mode 100644
index 0000000000..89cf257cd6
--- /dev/null
+++ b/iCubGrenoble01/wrappers/motorControl/torso-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/torso </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> torso-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubLethbridge01/calibrators/head_calib.xml b/iCubLethbridge01/calibrators/head_calib.xml
index 9753bd1717..821869d48c 100644
--- a/iCubLethbridge01/calibrators/head_calib.xml
+++ b/iCubLethbridge01/calibrators/head_calib.xml
@@ -10,30 +10,36 @@
             <param name="deviceName"> HeadV2_Calibrator </param>
         </group>
 
+         
+        <group name="HOME">          
+            <param name="positionHome">                           0             0                        </param>       
+            <param name="velocityHome">                         10            10                        </param>       
+        </group>   
+
         <group name="CALIBRATION">   
             <param name="calibrationType">                        3             3                                  </param>       
             <param name="calibration1">                       2047.5        2047.5                          </param>       
             <param name="calibration2">                          10            10                       </param>       
             <param name="calibration3">                     273.5       3139.5                     </param>       
+      		<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+    		<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+	    	<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+		    <param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
             <param name="startupPosition">                           0             0                        </param>       
             <param name="startupVelocity">                          10            10                       </param>       
             <param name="startupMaxPwm">                               0           0                       </param>       
             <param name="startupPosThreshold">                       2             2                       </param>       
         </group>       
-         
-        <group name="HOME">          
-            <param name="positionHome">                           0             0                        </param>       
-            <param name="velocityHome">                         10            10                        </param>       
-        </group>       
+    
 
         <param name="CALIB_ORDER"> (0) </param>
         
         <action phase="startup" level="10" type="calibrate">
-            <param name="target">head_mc_wrapper</param>
+            <param name="target">head-mc_remapper</param>
         </action>
 
         <action phase="interrupt1" level="1" type="park">
-            <param name="target">head_mc_wrapper</param>
+            <param name="target">head-mc_remapper</param>
         </action>
 
         <action phase="interrupt3" level="1" type="abort" />
diff --git a/iCubLethbridge01/calibrators/left_arm_calib.xml b/iCubLethbridge01/calibrators/left_arm_calib.xml
index 3ac778e90f..8512fa35cb 100644
--- a/iCubLethbridge01/calibrators/left_arm_calib.xml
+++ b/iCubLethbridge01/calibrators/left_arm_calib.xml
@@ -29,11 +29,11 @@
         <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>
 
         <action phase="startup" level="10" type="calibrate">
-            <param name="target">left_arm_mc</param>
+            <param name="target">left_arm-mc_remapper</param>
         </action>
 
         <action phase="interrupt1" level="1" type="park">
-            <param name="target">left_arm_mc</param>
+            <param name="target">left_arm-mc_remapper</param>
         </action>
 
         <action phase="interrupt3" level="1" type="abort" />
diff --git a/iCubLethbridge01/calibrators/left_leg_calib.xml b/iCubLethbridge01/calibrators/left_leg_calib.xml
index fd168bea9a..87c88b8ed9 100644
--- a/iCubLethbridge01/calibrators/left_leg_calib.xml
+++ b/iCubLethbridge01/calibrators/left_leg_calib.xml
@@ -29,11 +29,11 @@
         <param name="CALIB_ORDER">(0 1 2 3 4 5) </param>
         
         <action phase="startup" level="10" type="calibrate">
-            <param name="target">left_leg_mc_wrapper</param>
+            <param name="target">left_leg-mc_remapper</param>
         </action>
 
         <action phase="interrupt1" level="1" type="park">
-            <param name="target">left_leg_mc_wrapper</param>
+            <param name="target">left_leg-mc_remapper</param>
         </action>
 
         <action phase="interrupt3" level="1" type="abort" />
diff --git a/iCubLethbridge01/calibrators/right_arm_calib.xml b/iCubLethbridge01/calibrators/right_arm_calib.xml
index 577856834b..9351f7d956 100644
--- a/iCubLethbridge01/calibrators/right_arm_calib.xml
+++ b/iCubLethbridge01/calibrators/right_arm_calib.xml
@@ -29,11 +29,11 @@
         <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>
         
         <action phase="startup" level="10" type="calibrate">
-            <param name="target">right_arm_mc</param>
+            <param name="target">right_arm-mc_remapper</param>
         </action>
 
         <action phase="interrupt1" level="1" type="park">
-            <param name="target">right_arm_mc</param>
+            <param name="target">right_arm-mc_remapper</param>
         </action>
 
         <action phase="interrupt3" level="1" type="abort" />
diff --git a/iCubLethbridge01/calibrators/right_leg_calib.xml b/iCubLethbridge01/calibrators/right_leg_calib.xml
index 0d4f91784f..8a1013db07 100644
--- a/iCubLethbridge01/calibrators/right_leg_calib.xml
+++ b/iCubLethbridge01/calibrators/right_leg_calib.xml
@@ -29,11 +29,11 @@
         <param name="CALIB_ORDER">(0 1 2 3 4 5) </param>
         
         <action phase="startup" level="10" type="calibrate">
-            <param name="target">right_leg_mc_wrapper</param>
+            <param name="target">right_leg-mc_remapper</param>
         </action>
 
         <action phase="interrupt1" level="1" type="park">
-            <param name="target">right_leg_mc_wrapper</param>
+            <param name="target">right_leg-mc_remapper</param>
         </action>
 
         <action phase="interrupt3" level="1" type="abort" />
diff --git a/iCubLethbridge01/calibrators/torso_calib.xml b/iCubLethbridge01/calibrators/torso_calib.xml
index 7602421a3c..b5081feb53 100644
--- a/iCubLethbridge01/calibrators/torso_calib.xml
+++ b/iCubLethbridge01/calibrators/torso_calib.xml
@@ -29,11 +29,11 @@
         <param name="CALIB_ORDER"> (0 1 2) </param>
         
         <action phase="startup" level="10" type="calibrate">
-            <param name="target">torso_mc_wrapper</param>
+            <param name="target">torso-mc_remapper</param>
         </action>
 
         <action phase="interrupt1" level="1" type="park">
-            <param name="target">torso_mc_wrapper</param>
+            <param name="target">torso-mc_remapper</param>
         </action>
 
         <action phase="interrupt3" level="1" type="abort" />
diff --git a/iCubLethbridge01/cartesian/left_arm_cartesian.xml b/iCubLethbridge01/cartesian/left_arm_cartesian.xml
index 6ccfa0866a..f97c764bf4 100644
--- a/iCubLethbridge01/cartesian/left_arm_cartesian.xml
+++ b/iCubLethbridge01/cartesian/left_arm_cartesian.xml
@@ -42,8 +42,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="left_arm">left_arm_mc_wrapper</elem>
+                <elem name="torso">torso-mc_remapper</elem>
+                <elem name="left_arm">left_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubLethbridge01/cartesian/right_arm_cartesian.xml b/iCubLethbridge01/cartesian/right_arm_cartesian.xml
index 3f38d69aef..19aac788d3 100644
--- a/iCubLethbridge01/cartesian/right_arm_cartesian.xml
+++ b/iCubLethbridge01/cartesian/right_arm_cartesian.xml
@@ -42,8 +42,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="right_arm">right_arm_mc_wrapper</elem>
+                <elem name="torso">torso-mc_remapper</elem>
+                <elem name="right_arm">right_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubLethbridge01/icub_all.xml b/iCubLethbridge01/icub_all.xml
index e4fed3589c..4d0d14070a 100644
--- a/iCubLethbridge01/icub_all.xml
+++ b/iCubLethbridge01/icub_all.xml
@@ -1,10 +1,13 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <robot name="iCubLethbridge01" xmlns:xi="http://www.w3.org/2001/XInclude">
 <devices>
-    <!-- cartesian --> 
+        <!-- cartesian -->
+    <xi:include href="cartesian/left_arm_cartesian.xml" />
+    <xi:include href="cartesian/right_arm_cartesian.xml" />
     
     <!-- motor controllers wrappers -->
-    <xi:include href="wrappers/motorControl/head_mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
     <xi:include href="hardware/motorControl/icub_head.xml" />
     
     <!-- VIRTUAL ANALOG SERVERs -->
diff --git a/iCubLethbridge01/wrappers/motorControl/head-mc_remapper.xml b/iCubLethbridge01/wrappers/motorControl/head-mc_remapper.xml
new file mode 100644
index 0000000000..2ecf8ef188
--- /dev/null
+++ b/iCubLethbridge01/wrappers/motorControl/head-mc_remapper.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="head_joints">(  0  5  0  5 )</elem>
+    </paramlist>
+    <param name="joints"> 6                   </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="head_joints">  head_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubLethbridge01/wrappers/motorControl/head-mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/head-mc_wrapper.xml
new file mode 100644
index 0000000000..ba077316af
--- /dev/null
+++ b/iCubLethbridge01/wrappers/motorControl/head-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/head   </param>
+    <action phase="startup" level="10" type="attach">
+            <param name="device">  head-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubLethbridge01/wrappers/motorControl/head_mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/head_mc_wrapper.xml
deleted file mode 100644
index cf619472c4..0000000000
--- a/iCubLethbridge01/wrappers/motorControl/head_mc_wrapper.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="head_joints">(  0 1 0 1 )</elem>
-    </paramlist>
-    <param name="period"> 10          </param>
-    <param name="name">   icub/head   </param>
-    <param name="ports">  head        </param>
-    <param name="joints"> 2           </param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="head_joints">  head_mc </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubLugano01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/left_arm-mc_remapper.xml
similarity index 63%
rename from iCubLugano01/wrappers/motorControl/left_arm_mc_wrapper.xml
rename to iCubLethbridge01/wrappers/motorControl/left_arm-mc_remapper.xml
index 33a35127d1..50d52ebcc4 100644
--- a/iCubLugano01/wrappers/motorControl/left_arm_mc_wrapper.xml
+++ b/iCubLethbridge01/wrappers/motorControl/left_arm-mc_remapper.xml
@@ -1,19 +1,17 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_mc_wrapper" type="controlboardwrapper2">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="left_arm_joints">(  0  7  0  7 )</elem>
         <elem name="left_hand_joints">( 8 15  0  7 )</elem>
     </paramlist>
-    <param name="period"> 10 			</param>
-    <param name="name">   /icub/left_arm	</param>
-    <param name="ports">  left_arm		</param>
-    <param name="joints"> 16			</param>
+    <param name="joints"> 16 </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
-            <elem name="left_arm_joints">  left_arm_mc </elem>
+            <elem name="left_arm_joints"> left_arm_mc </elem>
             <elem name="left_hand_joints"> left_hand_mc </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubLethbridge01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/left_arm-mc_wrapper.xml
new file mode 100644
index 0000000000..ebe11670f8
--- /dev/null
+++ b/iCubLethbridge01/wrappers/motorControl/left_arm-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/left_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> left_arm_mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubMunich01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/left_leg-mc_remapper.xml
similarity index 65%
rename from iCubMunich01/wrappers/motorControl/left_leg_mc_wrapper.xml
rename to iCubLethbridge01/wrappers/motorControl/left_leg-mc_remapper.xml
index eece297558..02e9c9c27a 100644
--- a/iCubMunich01/wrappers/motorControl/left_leg_mc_wrapper.xml
+++ b/iCubLethbridge01/wrappers/motorControl/left_leg-mc_remapper.xml
@@ -1,18 +1,14 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_mc_wrapper" type="controlboardwrapper2">
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="left_leg_joints">(  0  5  0  5 )</elem>
     </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/left_leg   </param>
-    <param name="ports">  left_leg            </param>
     <param name="joints"> 6                   </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
             <elem name="left_leg_joints">  left_leg_mc </elem>
-            <elem name="Calibrator"> left_leg_calibrator </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubLethbridge01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/left_leg-mc_wrapper.xml
new file mode 100644
index 0000000000..2b54562163
--- /dev/null
+++ b/iCubLethbridge01/wrappers/motorControl/left_leg-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/left_leg </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> left_leg_mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubLethbridge01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/right_arm-mc_remapper.xml
similarity index 60%
rename from iCubLethbridge01/wrappers/motorControl/right_arm_mc_wrapper.xml
rename to iCubLethbridge01/wrappers/motorControl/right_arm-mc_remapper.xml
index 2f25e4e60c..e08c59444b 100644
--- a/iCubLethbridge01/wrappers/motorControl/right_arm_mc_wrapper.xml
+++ b/iCubLethbridge01/wrappers/motorControl/right_arm-mc_remapper.xml
@@ -1,20 +1,17 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_mc_wrapper" type="controlboardwrapper2">
-    <param name="threadrate">  10  </param>
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="right_arm_joints">(  0  7  0  7 )</elem>
         <elem name="right_hand_joints">( 8 15  0  7 )</elem>
     </paramlist>
-    <param name="period"> 10 			</param>
-    <param name="name">   icub/right_arm	</param>
-    <param name="ports">  right_arm		</param>
-    <param name="joints"> 16			</param>
+    <param name="joints"> 16 </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
-            <elem name="right_arm_joints">  right_arm_mc </elem>
+            <elem name="right_arm_joints"> right_arm_mc </elem>
             <elem name="right_hand_joints"> right_hand_mc </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubLethbridge01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/right_arm-mc_wrapper.xml
new file mode 100644
index 0000000000..f980f9dd1f
--- /dev/null
+++ b/iCubLethbridge01/wrappers/motorControl/right_arm-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/right_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> right_arm_mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubLethbridge01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubLethbridge01/wrappers/motorControl/right_leg-mc_remapper.xml
new file mode 100644
index 0000000000..0a8d6d4f80
--- /dev/null
+++ b/iCubLethbridge01/wrappers/motorControl/right_leg-mc_remapper.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg_mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="right_leg_oints">(  0  5  0  5 )</elem>
+    </paramlist>
+    <param name="joints"> 6                   </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="right_leg_joints">  right_leg_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubLethbridge01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/right_leg-mc_wrapper.xml
new file mode 100644
index 0000000000..850532c3fa
--- /dev/null
+++ b/iCubLethbridge01/wrappers/motorControl/right_leg-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/right_leg </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> right_leg_mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubLethbridge01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/right_leg_mc_wrapper.xml
deleted file mode 100644
index 2665e92082..0000000000
--- a/iCubLethbridge01/wrappers/motorControl/right_leg_mc_wrapper.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg_mc_wrapper" type="controlboardwrapper2">
-    <param name="threadrate">  10  </param>
-    <paramlist name="networks">
-        <elem name="right_joints">(  0  5  0  5 )</elem>
-    </paramlist>
-    <param name="period"> 10 			</param>
-    <param name="name">   icub/right_leg	</param>
-    <param name="ports">  right_leg		</param>
-    <param name="joints"> 6			</param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="right_joints">  right_leg_mc </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubLugano01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/torso-mc_remapper.xml
similarity index 71%
rename from iCubLugano01/wrappers/motorControl/torso_mc_wrapper.xml
rename to iCubLethbridge01/wrappers/motorControl/torso-mc_remapper.xml
index 70e0cb53cb..51ef3d71ae 100644
--- a/iCubLugano01/wrappers/motorControl/torso_mc_wrapper.xml
+++ b/iCubLethbridge01/wrappers/motorControl/torso-mc_remapper.xml
@@ -1,17 +1,15 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso_mc_wrapper" type="controlboardwrapper2">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso_mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="torso_joints">(  0 2 0 2 )</elem>
     </paramlist>
-    <param name="period"> 10 			</param>
-    <param name="name">   /icub/torso		</param>
-    <param name="ports">  torso		</param>
     <param name="joints"> 3			</param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
             <elem name="torso_joints">  torso_mc </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubLethbridge01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubLethbridge01/wrappers/motorControl/torso-mc_wrapper.xml
new file mode 100644
index 0000000000..974bf9e8a0
--- /dev/null
+++ b/iCubLethbridge01/wrappers/motorControl/torso-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/torso </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> torso_mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubLugano01/calibrators/head_calib.xml b/iCubLugano01/calibrators/head_calib.xml
index 0d4d59a894..ec447a8cc1 100644
--- a/iCubLugano01/calibrators/head_calib.xml
+++ b/iCubLugano01/calibrators/head_calib.xml
@@ -8,31 +8,37 @@
             <param name="deviceName"> Head_Calibrator </param>         
         </group>             
  
+  
+<group name="HOME">          
+<param name="positionHome"> -40           0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group>  
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            0             0             0             0             0             0             </param>       
 <param name="calibration1">               500           1333          1333          600           500           500           </param>       
 <param name="calibration2">               20            20            20            -20           20            20            </param>       
-<param name="calibration3">               0             0             0             0             0             0             </param>       
+<param name="calibration3">               0             0             0             0             0             0             </param>    
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>   
 <param name="startupPosition">               0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            10            10            10            </param>       
 <param name="startupMaxPwm">                     1300          1300          1330          1300          1300          1300          </param>       
 <param name="startupPosThreshold">           2             2             180           2             180           180           </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> -40           0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>       
+     
  
         <param name="CALIB_ORDER"> (0) (1) (2 3) (5) (4) </param>      
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubLugano01/calibrators/left_arm_calib.xml b/iCubLugano01/calibrators/left_arm_calib.xml
index 5e57b408ec..d4705aacb2 100644
--- a/iCubLugano01/calibrators/left_arm_calib.xml
+++ b/iCubLugano01/calibrators/left_arm_calib.xml
@@ -8,31 +8,37 @@
             <param name="deviceName"> Left_Arm_Calibrator </param>     
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
+<param name="velocityHome"> 10            10            10            10            30            30            30            100           </param>       
+</group>    
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             3             0             2             2             3             </param>       
 <param name="calibration1">               2388.75       3241.875      -275.933      1532          650           750           750           1685          </param>       
 <param name="calibration2">               10            10            10            10            20            -10           -10           100           </param>       
-<param name="calibration3">               2111          425           2390          1719         0             0             0             0             </param>       
+<param name="calibration3">               2111          425           2390          1719         0             0             0             0             </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>       
 <param name="startupPosition">               -30           30            0             45            0             0             0             15            </param>       
 <param name="startupVelocity">               10            10            10            10            30            30            30            100           </param>       
 <param name="startupMaxPwm">                     120           120           120           120           0             0             0             0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
-<param name="velocityHome"> 10            10            10            10            30            30            30            100           </param>       
-</group>       
+   
  
         <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>        
  
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_arm_mc</param>     
+            <param name="target">left_arm-mc_remapper</param>     
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_arm_mc</param>     
+            <param name="target">left_arm-mc_remapper</param>     
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubLugano01/calibrators/left_hand_calib.xml b/iCubLugano01/calibrators/left_hand_calib.xml
index 26ffe0e582..aca3800652 100644
--- a/iCubLugano01/calibrators/left_hand_calib.xml
+++ b/iCubLugano01/calibrators/left_hand_calib.xml
@@ -7,23 +7,29 @@
             <param name="joints"> 8 </param>             
             <param name="deviceName"> Left_Hand_Calibrator </param>    
         </group>             
- 
+
+<group name="HOME">          
+<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
+</group>  
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             4             4             4             4             4             4             4             </param>       
 <param name="calibration1">               251           230           0             240           0             240           0             703           </param>       
 <param name="calibration2">               10            10            30            10            10            10            10            10            </param>       
-<param name="calibration3">               0             6000          6600          6000          6600          6000          -6600         14000         </param>       
+<param name="calibration3">               0             6000          6600          6000          6600          6000          -6600         14000         </param> 
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>      
 <param name="startupPosition">               30            3             0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               100           100           100           100           100           100           100           100           </param>       
 <param name="startupMaxPwm">                     0             0             0             0             0             0             0             0             </param>       
 <param name="startupPosThreshold">           90            90            90            90            90            90            90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
-</group>       
+     
  
         <param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>         
                
diff --git a/iCubLugano01/calibrators/right_arm_calib.xml b/iCubLugano01/calibrators/right_arm_calib.xml
index 0978a9f83c..1e4063d9de 100644
--- a/iCubLugano01/calibrators/right_arm_calib.xml
+++ b/iCubLugano01/calibrators/right_arm_calib.xml
@@ -7,32 +7,38 @@
             <param name="joints"> 8 </param>             
             <param name="deviceName"> Right_Arm_Calibrator </param>    
         </group>             
+
+<group name="HOME">          
+<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
+<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
+</group>  
  
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             3             0             2             2             3             </param>       
 <param name="calibration1">               1706.25       853.125       2795.317      2558          650           750           750           1580          </param>       
 <param name="calibration2">               10            10            10            10            -20           10            10            100           </param>       
-<param name="calibration3">               2640          2644          1974          16.5          0             0             0             0             </param>       
+<param name="calibration3">               2640          2644          1974          16.5          0             0             0             0             </param>  
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>     
 <param name="startupPosition">               -30           30            0             45            0             0             0             15            </param>       
 <param name="startupVelocity">               10            10            10            10            30            10            10            100           </param>       
 <param name="startupMaxPwm">                     120           120           120           120           0             0             0             0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
-<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
-</group>       
+     
  
        <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_arm_mc</param>    
+            <param name="target">right_arm-mc_remapper</param>    
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_arm_mc</param>    
+            <param name="target">right_arm-mc_remapper</param>    
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubLugano01/calibrators/right_hand_calib.xml b/iCubLugano01/calibrators/right_hand_calib.xml
index 5f34ea93b0..7bef6a445d 100644
--- a/iCubLugano01/calibrators/right_hand_calib.xml
+++ b/iCubLugano01/calibrators/right_hand_calib.xml
@@ -8,22 +8,28 @@
             <param name="deviceName"> Right_Hand_Calibrator </param>   
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
+</group>  
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             4             4             4             4             4             4             4             </param>       
 <param name="calibration1">               288           226           0             243           0             231           0             738           </param>       
 <param name="calibration2">               10            10            30            10            10            10            10            10            </param>       
-<param name="calibration3">               0             6000          6600          6000          -6600         6000          6600          14000         </param>       
+<param name="calibration3">               0             6000          6600          6000          -6600         6000          6600          14000         </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>       
 <param name="startupPosition">               30            3             0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               100           100           100           100           100           100           100           100           </param>       
 <param name="startupMaxPwm">                     0             0             0             0             0             0             0             0             </param>       
 <param name="startupPosThreshold">           90            90            90            90            90            90            90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
-</group>       
+     
  
         <param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>         
                
diff --git a/iCubLugano01/calibrators/torso_calib.xml b/iCubLugano01/calibrators/torso_calib.xml
index b5034bfad5..b0e491b190 100644
--- a/iCubLugano01/calibrators/torso_calib.xml
+++ b/iCubLugano01/calibrators/torso_calib.xml
@@ -7,32 +7,38 @@
             <param name="joints"> 4 </param>             
             <param name="deviceName"> Torso_Calibrator </param>        
         </group>             
+
+<group name="HOME">          
+<param name="positionHome"> 0             0             -20           0             </param>       
+<param name="velocityHome"> 10            10            10            0             </param>       
+</group>  
  
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             3             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        0             </param>       
 <param name="calibration2">               10            10            10            0             </param>       
-<param name="calibration3">               3909.588      2335.288      3713.938      0             </param>       
+<param name="calibration3">               3909.588      2335.288      3713.938      0             </param>  
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>     
 <param name="startupPosition">               0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            0             </param>       
 <param name="startupMaxPwm">                     120           120           120           0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> 0             0             -20           0             </param>       
-<param name="velocityHome"> 10            10            10            0             </param>       
-</group>       
+     
  
        <param name="CALIB_ORDER"> (0 1 2) </param>       
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">torso_mc_wrapper</param>              
+            <param name="target">torso-mc_remapper</param>              
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">torso_mc_wrapper</param>              
+            <param name="target">torso-mc_remapper</param>              
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubLugano01/cartesian/left_arm_cartesian.xml b/iCubLugano01/cartesian/left_arm_cartesian.xml
index eb54e7223d..9ec1342a39 100644
--- a/iCubLugano01/cartesian/left_arm_cartesian.xml
+++ b/iCubLugano01/cartesian/left_arm_cartesian.xml
@@ -44,8 +44,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="left_arm">left_arm_mc_wrapper</elem>
+                <elem name="torso">torso-mc_remapper</elem>
+                <elem name="left_arm">left_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubLugano01/cartesian/right_arm_cartesian.xml b/iCubLugano01/cartesian/right_arm_cartesian.xml
index a84100d93e..83c9e62c2b 100644
--- a/iCubLugano01/cartesian/right_arm_cartesian.xml
+++ b/iCubLugano01/cartesian/right_arm_cartesian.xml
@@ -44,8 +44,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="right_arm">right_arm_mc_wrapper</elem>
+                <elem name="torso">torso-mc_remapper</elem>
+                <elem name="right_arm">right_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubLugano01/icub_all.xml b/iCubLugano01/icub_all.xml
index f26b451257..6f97936cc8 100644
--- a/iCubLugano01/icub_all.xml
+++ b/iCubLugano01/icub_all.xml
@@ -7,12 +7,16 @@
     <xi:include href="cartesian/right_arm_cartesian.xml" />
     
     <!-- motor controllers wrappers -->
-    <xi:include href="wrappers/motorControl/left_arm_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/right_arm_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/head_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/torso_mc_wrapper.xml" />
-    <xi:include href="hardware/motorControl/icub_left_arm.xml" />
-    <xi:include href="hardware/motorControl/icub_left_hand.xml" />
+    <xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" /> 
+    <xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" /> 
+    <xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
+    <xi:include href="hardware/motorControl/icub_left_arm.xml" /> 
+    <xi:include href="hardware/motorControl/icub_left_hand.xml" /> 
     <xi:include href="hardware/motorControl/icub_right_arm.xml" />
     <xi:include href="hardware/motorControl/icub_right_hand.xml" />
     <xi:include href="hardware/motorControl/icub_head.xml" />
diff --git a/iCubLugano01/wrappers/motorControl/head-mc_remapper.xml b/iCubLugano01/wrappers/motorControl/head-mc_remapper.xml
new file mode 100644
index 0000000000..2ecf8ef188
--- /dev/null
+++ b/iCubLugano01/wrappers/motorControl/head-mc_remapper.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="head_joints">(  0  5  0  5 )</elem>
+    </paramlist>
+    <param name="joints"> 6                   </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="head_joints">  head_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubLugano01/wrappers/motorControl/head-mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/head-mc_wrapper.xml
new file mode 100644
index 0000000000..06e2825805
--- /dev/null
+++ b/iCubLugano01/wrappers/motorControl/head-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/head   </param>
+    <action phase="startup" level="10" type="attach">
+            <param name="device">  head-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubLugano01/wrappers/motorControl/head_mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/head_mc_wrapper.xml
deleted file mode 100644
index dc3dd877b6..0000000000
--- a/iCubLugano01/wrappers/motorControl/head_mc_wrapper.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="head_joints">(  0 5 0 5 )</elem>
-    </paramlist>
-    <param name="period"> 10          </param>
-    <param name="name">   /icub/head   </param>
-    <param name="ports">  head        </param>
-    <param name="joints"> 6           </param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="head_joints">  head_mc </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubLethbridge01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/left_arm-mc_remapper.xml
similarity index 60%
rename from iCubLethbridge01/wrappers/motorControl/left_arm_mc_wrapper.xml
rename to iCubLugano01/wrappers/motorControl/left_arm-mc_remapper.xml
index 457ccaab0b..b153e07c3c 100644
--- a/iCubLethbridge01/wrappers/motorControl/left_arm_mc_wrapper.xml
+++ b/iCubLugano01/wrappers/motorControl/left_arm-mc_remapper.xml
@@ -1,20 +1,17 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_mc_wrapper" type="controlboardwrapper2">
-    <param name="threadrate">  10  </param>
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="left_arm_joints">(  0  7  0  7 )</elem>
         <elem name="left_hand_joints">( 8 15  0  7 )</elem>
     </paramlist>
-    <param name="period"> 10 			</param>
-    <param name="name">   icub/left_arm		</param>
-    <param name="ports">  left_arm		</param>
-    <param name="joints"> 16			</param>
+    <param name="joints"> 16 </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
-            <elem name="left_arm_joints">  left_arm_mc </elem>
+            <elem name="left_arm_joints"> left_arm_mc </elem>
             <elem name="left_hand_joints"> left_hand_mc </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubLugano01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/left_arm-mc_wrapper.xml
new file mode 100644
index 0000000000..caf7f8bb4b
--- /dev/null
+++ b/iCubLugano01/wrappers/motorControl/left_arm-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/left_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> left_arm-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubGrenoble01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/right_arm-mc_remapper.xml
similarity index 59%
rename from iCubGrenoble01/wrappers/motorControl/right_arm_mc_wrapper.xml
rename to iCubLugano01/wrappers/motorControl/right_arm-mc_remapper.xml
index 8aa22c41a8..8354c4b8f6 100644
--- a/iCubGrenoble01/wrappers/motorControl/right_arm_mc_wrapper.xml
+++ b/iCubLugano01/wrappers/motorControl/right_arm-mc_remapper.xml
@@ -1,20 +1,17 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_mc_wrapper" type="controlboardwrapper2">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="right_arm_joints">(  0  7  0  7 )</elem>
         <elem name="right_hand_joints">( 8 15  0  7 )</elem>
     </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/right_arm   </param>
-    <param name="ports">  right_arm		</param>
-    <param name="joints"> 16			</param>
+    <param name="joints"> 16 </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
-            <elem name="right_arm_joints">  right_arm_mc </elem>
+            <elem name="right_arm_joints"> right_arm_mc </elem>
             <elem name="right_hand_joints"> right_hand_mc </elem>
-            <elem name="Calibrator"> right_arm_calibrator </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubLugano01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/right_arm-mc_wrapper.xml
new file mode 100644
index 0000000000..15bc4d3c12
--- /dev/null
+++ b/iCubLugano01/wrappers/motorControl/right_arm-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/right_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> right_arm-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubGrenoble01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/torso-mc_remapper.xml
similarity index 58%
rename from iCubGrenoble01/wrappers/motorControl/torso_mc_wrapper.xml
rename to iCubLugano01/wrappers/motorControl/torso-mc_remapper.xml
index 2ceebcd869..21dabf94fa 100644
--- a/iCubGrenoble01/wrappers/motorControl/torso_mc_wrapper.xml
+++ b/iCubLugano01/wrappers/motorControl/torso-mc_remapper.xml
@@ -1,18 +1,15 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso_mc_wrapper" type="controlboardwrapper2">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="torso_joints">(  0 2 0 2 )</elem>
     </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/torso   </param>
-    <param name="ports">  torso		</param>
     <param name="joints"> 3			</param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
             <elem name="torso_joints">  torso_mc </elem>
-            <elem name="Calibrator"> torso_calibrator </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubLugano01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubLugano01/wrappers/motorControl/torso-mc_wrapper.xml
new file mode 100644
index 0000000000..89cf257cd6
--- /dev/null
+++ b/iCubLugano01/wrappers/motorControl/torso-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/torso </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> torso-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubMunich01/calibrators/head_calib.xml b/iCubMunich01/calibrators/head_calib.xml
index 3b3157b548..e6de1d894f 100644
--- a/iCubMunich01/calibrators/head_calib.xml
+++ b/iCubMunich01/calibrators/head_calib.xml
@@ -7,32 +7,38 @@
             <param name="joints"> 6 </param>             
             <param name="deviceName"> Head_Calibrator </param>         
         </group>             
- 
+
+ <group name="HOME">          
+<param name="positionHome"> -40           0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group>    
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            0             0             0             0             0             0             </param>       
 <param name="calibration1">               500           1333          1333          600           500           500           </param>       
 <param name="calibration2">               20            20            20            -20           20            20            </param>       
-<param name="calibration3">               0             0             0             0             0             0             </param>       
+<param name="calibration3">               0             0             0             0             0             0             </param>  
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>     
 <param name="startupPosition">               0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            10            10            10            </param>       
 <param name="startupMaxPwm">                     1300          1300          1330          1300          1300          1300          </param>       
 <param name="startupPosThreshold">           2             2             180           2             180           180           </param>       
 </group>          
  
-<group name="HOME">          
-<param name="positionHome"> -40           0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>       
+  
  
         <param name="CALIB_ORDER"> (0) (1) (2 3) (5) (4) </param>          
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubMunich01/calibrators/left_arm_calib.xml b/iCubMunich01/calibrators/left_arm_calib.xml
index aee30acbdd..3adba29ca9 100644
--- a/iCubMunich01/calibrators/left_arm_calib.xml
+++ b/iCubMunich01/calibrators/left_arm_calib.xml
@@ -8,31 +8,37 @@
             <param name="deviceName"> Left_Arm_Calibrator </param>     
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
+<param name="velocityHome"> 10            10            10            10            30            30            30            100           </param>       
+</group> 
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             3             0             2             2             3             </param>       
 <param name="calibration1">               2388.75       3241.875      -275.933      1532          1000          750           750           1730          </param>       
 <param name="calibration2">               10            10            10            10            20            -10           -10           100           </param>       
-<param name="calibration3">               1969.0125     2492.2625     1586.528      229.775       0             0             0             0             </param>       
+<param name="calibration3">               1969.0125     2492.2625     1586.528      229.775       0             0             0             0             </param>  
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>     
 <param name="startupPosition">               -30           30            0             45            0             0             0             15            </param>       
 <param name="startupVelocity">               10            10            10            10            30            30            30            100           </param>       
 <param name="startupMaxPwm">                     120           120           120           120           0             0             0             0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2            90            90             </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
-<param name="velocityHome"> 10            10            10            10            30            30            30            100           </param>       
-</group>       
+   
  
         <param name="CALIB_ORDER">(0 1 2 3) (4) (6 7) (5)</param>        
  
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_arm_mc_wrapper</param>     
+            <param name="target">left_arm-mc_remapper</param>     
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_arm_mc_wrapper</param>     
+            <param name="target">left_arm-mc_remapper</param>     
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubMunich01/calibrators/left_hand_calib.xml b/iCubMunich01/calibrators/left_hand_calib.xml
index e20226a946..c584eab5f8 100644
--- a/iCubMunich01/calibrators/left_hand_calib.xml
+++ b/iCubMunich01/calibrators/left_hand_calib.xml
@@ -8,31 +8,37 @@
             <param name="deviceName"> Left_Hand_Calibrator </param>    
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
+</group>  
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             4             4             4             4             4             4             4          </param>       
 <param name="calibration1">               920           240           20            243           10            246           35            673        </param>       
 <param name="calibration2">               10            10            30            10            10            10            10            10         </param>       
-<param name="calibration3">               0             6000          6600          6000          7000          6000          -7000         20000      </param>       
+<param name="calibration3">               0             6000          6600          6000          7000          6000          -7000         20000      </param> 
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>        
 <param name="startupPosition">               30            0             0             0             0             0             0             0          </param>       
 <param name="startupVelocity">               100           100           100           100           100           100           100           100        </param>       
 <param name="startupMaxPwm">                     0             0             0             0             0             0             0             0          </param>       
 <param name="startupPosThreshold">           90            90            90            90            90            90            90            90         </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
-</group>       
+    
  
         <param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_hand_mc</param>    
+            <param name="target">left_hand-mc</param>    
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_hand_mc</param>    
+            <param name="target">left_hand-mc</param>    
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubMunich01/calibrators/left_leg_calib.xml b/iCubMunich01/calibrators/left_leg_calib.xml
index f55ec28911..e4f3b55870 100644
--- a/iCubMunich01/calibrators/left_leg_calib.xml
+++ b/iCubMunich01/calibrators/left_leg_calib.xml
@@ -1,37 +1,45 @@
 <?xml version="1.0" encoding="UTF-8" ?>    
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
      
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_calibrator" type="parametricCalibrator">    
- 
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">        
+<xi:include href="../general.xml" />     
+
         <group name="GENERAL">             
             <param name="joints">  6  </param>           
             <param name="deviceName"> Left_Leg_Calibrator </param>     
         </group>             
- 
+
+<group name="HOME">          
+<param name="positionHome"> 0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group>       
+  
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             3             3             3             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        2047.5        2047.5        2047.5        </param>       
 <param name="calibration2">               10            10            10            10            10            10            </param>       
-<param name="calibration3">               2745.925      953.225       2517.288      3531.9375     3368.1375     1151.15       </param>       
+<param name="calibration3">               2745.925      953.225       2517.288      3531.9375     3368.1375     1151.15       </param>    
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>      
 <param name="startupPosition">               0.00          0.00          0.00          0.00          0.00          0.00          </param>       
 <param name="startupVelocity">               10.00         10.00         10.00         10.00         10.00         10.00         </param>       
 <param name="startupMaxPwm">                     120           120           120           120           120           120           </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> 0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>       
- 
+
         <param name="CALIB_ORDER">(0 1 2 3 4 5) </param>               
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_leg_mc_wrapper</param>           
+            <param name="target">left_leg-mc_remapper</param>           
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_leg_mc_wrapper</param>           
+            <param name="target">left_leg-mc_remapper</param>           
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubMunich01/calibrators/right_arm_calib.xml b/iCubMunich01/calibrators/right_arm_calib.xml
index a505d1207f..45c2742383 100644
--- a/iCubMunich01/calibrators/right_arm_calib.xml
+++ b/iCubMunich01/calibrators/right_arm_calib.xml
@@ -7,32 +7,38 @@
             <param name="joints"> 8 </param>             
             <param name="deviceName"> Right_Arm_Calibrator </param>    
         </group>             
- 
+
+<group name="HOME">          
+<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
+<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
+</group> 
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             3             0             2             2             3             </param>       
 <param name="calibration1">               1706.25       853.125       2795.317      2558          900           750           750           1700          </param>       
 <param name="calibration2">               10            10            10            10            -20           10            10            100           </param>       
-<param name="calibration3">               3363.5875     1543.588      2694.453      213.85        0             0             0             0             </param>       
+<param name="calibration3">               3363.5875     1543.588      2694.453      213.85        0             0             0             0             </param>  
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>        
 <param name="startupPosition">               -30           30            0             45            0             0             0             15            </param>       
 <param name="startupVelocity">               10            10            10            10            30            30            30            100           </param>       
 <param name="startupMaxPwm">                     120           120           120           120           0             0             0             0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
-<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
-</group>       
+    
  
        <param name="CALIB_ORDER">(0 1 2 3) (4) (6 7) (5)</param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_arm_mc_wrapper</param>    
+            <param name="target">right_arm-mc_remapper</param>    
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_arm_mc_wrapper</param>    
+            <param name="target">right_arm-mc_remapper</param>    
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubMunich01/calibrators/right_hand_calib.xml b/iCubMunich01/calibrators/right_hand_calib.xml
index 11d91a4412..27007466a5 100644
--- a/iCubMunich01/calibrators/right_hand_calib.xml
+++ b/iCubMunich01/calibrators/right_hand_calib.xml
@@ -8,31 +8,37 @@
             <param name="deviceName"> Right_Hand_Calibrator </param>   
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
+</group>  
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             4             4             4             4             4             4             4             </param>       
 <param name="calibration1">               892.11        243           20            255           0             242           15            682           </param>       
 <param name="calibration2">               10            10            30            10            10            10            10            10            </param>       
-<param name="calibration3">               0             6000          6600          6000          -7000         6000          7000          20000         </param>       
+<param name="calibration3">               0             6000          6600          6000          -7000         6000          7000          20000         </param> 
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>         
 <param name="startupPosition">               30            0             0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               100           100           100           100           100           100           100           100           </param>       
 <param name="startupMaxPwm">                     0             0             0             0             0             0             0             0             </param>       
 <param name="startupPosThreshold">           90            90            90            90            90            90            90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
-</group>       
+     
  
         <param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_hand_mc</param>   
+            <param name="target">right_hand-mc</param>   
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_hand_mc</param>   
+            <param name="target">right_hand-mc</param>   
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubMunich01/calibrators/right_leg_calib.xml b/iCubMunich01/calibrators/right_leg_calib.xml
index 9af677cb89..c0423a5cde 100644
--- a/iCubMunich01/calibrators/right_leg_calib.xml
+++ b/iCubMunich01/calibrators/right_leg_calib.xml
@@ -1,37 +1,44 @@
 <?xml version="1.0" encoding="UTF-8" ?>    
-       
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg_calibrator" type="parametricCalibrator">   
-                             
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+     
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">        
+<xi:include href="../general.xml" />                              
         <group name="GENERAL">             
             <param name="joints">  6  </param>           
             <param name="deviceName"> Right_Leg_Calibrator </param>    
         </group>             
  
+  
+<group name="HOME">          
+<param name="positionHome"> 0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group>  
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             3             3             3             </param>       
 <param name="calibration1">               2047.50       2047.50       2047.50       2047.50       2047.50       2047.50       </param>       
 <param name="calibration2">               10.00         10.00         10.00         10.00         10.00         10.00         </param>       
-<param name="calibration3">               3950.54       3164.53       1081.76       1529.94       1142.05       1900.76       </param>       
+<param name="calibration3">               3950.54       3164.53       1081.76       1529.94       1142.05       1900.76       </param>   
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>       
 <param name="startupPosition">               0.00          0.00          0.00          0.00          0.00          0.00          </param>       
 <param name="startupVelocity">               10.00         10.00         10.00         10.00         10.00         10.00         </param>       
 <param name="startupMaxPwm">                     120           120           120           120           120           120           </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> 0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>       
+     
  
         <param name="CALIB_ORDER">(0 1 2 3 4 5) </param>               
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_leg_mc_wrapper</param>          
+            <param name="target">right_leg-mc_remapper</param>          
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_leg_mc_wrapper</param>          
+            <param name="target">right_leg-mc_remapper</param>          
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubMunich01/calibrators/torso_calib.xml b/iCubMunich01/calibrators/torso_calib.xml
index 87d20e186c..de8a680826 100644
--- a/iCubMunich01/calibrators/torso_calib.xml
+++ b/iCubMunich01/calibrators/torso_calib.xml
@@ -8,31 +8,37 @@
             <param name="deviceName"> Torso_Calibrator </param>        
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome">               0             0             -20           0             </param>       
+<param name="velocityHome">              10            10             10            0             </param>       
+</group> 
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             0             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        0             </param>       
 <param name="calibration2">               10            10            10            0             </param>       
-<param name="calibration3">               2295.475      105.7875      3520.563      0             </param>       
+<param name="calibration3">               2295.475      105.7875      3520.563      0             </param> 
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>        
 <param name="startupPosition">               0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            0             </param>       
 <param name="startupMaxPwm">                     120           120           120           0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome">               0             0             -20           0             </param>       
-<param name="velocityHome">              10            10             10            0             </param>       
-</group>       
+      
  
        <param name="CALIB_ORDER"> (0 1 2) </param>       
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">torso_mc_wrapper</param>              
+            <param name="target">torso-mc_remapper</param>              
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">torso_mc_wrapper</param>              
+            <param name="target">torso-mc_remapper</param>              
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubMunich01/cartesian/left_arm_cartesian.xml b/iCubMunich01/cartesian/left_arm_cartesian.xml
index eb54e7223d..9ec1342a39 100644
--- a/iCubMunich01/cartesian/left_arm_cartesian.xml
+++ b/iCubMunich01/cartesian/left_arm_cartesian.xml
@@ -44,8 +44,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="left_arm">left_arm_mc_wrapper</elem>
+                <elem name="torso">torso-mc_remapper</elem>
+                <elem name="left_arm">left_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubMunich01/cartesian/right_arm_cartesian.xml b/iCubMunich01/cartesian/right_arm_cartesian.xml
index a84100d93e..83c9e62c2b 100644
--- a/iCubMunich01/cartesian/right_arm_cartesian.xml
+++ b/iCubMunich01/cartesian/right_arm_cartesian.xml
@@ -44,8 +44,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="right_arm">right_arm_mc_wrapper</elem>
+                <elem name="torso">torso-mc_remapper</elem>
+                <elem name="right_arm">right_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubMunich01/icub_all.xml b/iCubMunich01/icub_all.xml
index a18f564c41..a201801961 100644
--- a/iCubMunich01/icub_all.xml
+++ b/iCubMunich01/icub_all.xml
@@ -7,14 +7,20 @@
     <xi:include href="cartesian/right_arm_cartesian.xml" />
     
     <!-- motor controllers wrappers -->
-    <xi:include href="wrappers/motorControl/left_arm_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/right_arm_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/left_leg_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/right_leg_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/head_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/torso_mc_wrapper.xml" />
-    <xi:include href="hardware/motorControl/icub_left_arm.xml" />
-    <xi:include href="hardware/motorControl/icub_left_hand.xml" />
+    <xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" /> 
+    <xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" /> 
+    <xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" /> 
+    <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" /> 
+    <xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" /> 
+    <xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" /> 
+    <xi:include href="hardware/motorControl/icub_left_arm.xml" /> 
+    <xi:include href="hardware/motorControl/icub_left_hand.xml" /> 
     <xi:include href="hardware/motorControl/icub_right_arm.xml" />
     <xi:include href="hardware/motorControl/icub_right_hand.xml" />
     <xi:include href="hardware/motorControl/icub_left_leg.xml" /> 
diff --git a/iCubMunich01/wrappers/motorControl/head-mc_remapper.xml b/iCubMunich01/wrappers/motorControl/head-mc_remapper.xml
new file mode 100644
index 0000000000..2ecf8ef188
--- /dev/null
+++ b/iCubMunich01/wrappers/motorControl/head-mc_remapper.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="head_joints">(  0  5  0  5 )</elem>
+    </paramlist>
+    <param name="joints"> 6                   </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="head_joints">  head_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubMunich01/wrappers/motorControl/head-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/head-mc_wrapper.xml
new file mode 100644
index 0000000000..06e2825805
--- /dev/null
+++ b/iCubMunich01/wrappers/motorControl/head-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/head   </param>
+    <action phase="startup" level="10" type="attach">
+            <param name="device">  head-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubMunich01/wrappers/motorControl/head_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/head_mc_wrapper.xml
deleted file mode 100644
index 416ecce9bf..0000000000
--- a/iCubMunich01/wrappers/motorControl/head_mc_wrapper.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="head_joints">(  0 5 0 5 )</elem>
-    </paramlist>
-    <param name="period"> 10          </param>
-    <param name="name">   /icub/head   </param>
-    <param name="ports">  head        </param>
-    <param name="joints"> 6           </param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="head_joints">  head_mc </elem>
-            <elem name="Calibrator"> head_calibrator </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubGrenoble01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_arm-mc_remapper.xml
similarity index 59%
rename from iCubGrenoble01/wrappers/motorControl/left_arm_mc_wrapper.xml
rename to iCubMunich01/wrappers/motorControl/left_arm-mc_remapper.xml
index f989cc0060..b153e07c3c 100644
--- a/iCubGrenoble01/wrappers/motorControl/left_arm_mc_wrapper.xml
+++ b/iCubMunich01/wrappers/motorControl/left_arm-mc_remapper.xml
@@ -1,20 +1,17 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_mc_wrapper" type="controlboardwrapper2">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="left_arm_joints">(  0  7  0  7 )</elem>
         <elem name="left_hand_joints">( 8 15  0  7 )</elem>
     </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/left_arm   </param>
-    <param name="ports">  left_arm		</param>
-    <param name="joints"> 16			</param>
+    <param name="joints"> 16 </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
-            <elem name="left_arm_joints">  left_arm_mc </elem>
+            <elem name="left_arm_joints"> left_arm_mc </elem>
             <elem name="left_hand_joints"> left_hand_mc </elem>
-            <elem name="Calibrator"> left_arm_calibrator </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubMunich01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_arm-mc_wrapper.xml
new file mode 100644
index 0000000000..caf7f8bb4b
--- /dev/null
+++ b/iCubMunich01/wrappers/motorControl/left_arm-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/left_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> left_arm-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubMunich01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_arm_mc_wrapper.xml
deleted file mode 100644
index d72d046498..0000000000
--- a/iCubMunich01/wrappers/motorControl/left_arm_mc_wrapper.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="left_arm_joints">(  0  7  0  7 )</elem>
-        <elem name="left_hand_joints">( 8 15  0  7 )</elem>
-    </paramlist>
-    <param name="period"> 10 			</param>
-    <param name="name">   /icub/left_arm	</param>
-    <param name="ports">  left_arm		</param>
-    <param name="joints"> 16			</param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="left_arm_joints">  left_arm_mc </elem>
-            <elem name="left_hand_joints"> left_hand_mc </elem>
-            <elem name="Calibrator"> left_arm_calibrator </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubLethbridge01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_leg-mc_remapper.xml
similarity index 65%
rename from iCubLethbridge01/wrappers/motorControl/left_leg_mc_wrapper.xml
rename to iCubMunich01/wrappers/motorControl/left_leg-mc_remapper.xml
index dd6d91a83d..04e89de94d 100644
--- a/iCubLethbridge01/wrappers/motorControl/left_leg_mc_wrapper.xml
+++ b/iCubMunich01/wrappers/motorControl/left_leg-mc_remapper.xml
@@ -1,18 +1,14 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_mc_wrapper" type="controlboardwrapper2">
-    <param name="threadrate">   10  </param>
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="left_leg_joints">(  0  5  0  5 )</elem>
     </paramlist>
-    <param name="period"> 10                  </param>
-    <param name="name">   icub/left_leg       </param>
-    <param name="ports">  left_leg            </param>
     <param name="joints"> 6                   </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
             <elem name="left_leg_joints">  left_leg_mc </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubMunich01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/left_leg-mc_wrapper.xml
new file mode 100644
index 0000000000..64e5ab7e13
--- /dev/null
+++ b/iCubMunich01/wrappers/motorControl/left_leg-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/left_leg </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> left_leg-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubMunich01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_arm-mc_remapper.xml
similarity index 59%
rename from iCubMunich01/wrappers/motorControl/right_arm_mc_wrapper.xml
rename to iCubMunich01/wrappers/motorControl/right_arm-mc_remapper.xml
index 450852f978..8354c4b8f6 100644
--- a/iCubMunich01/wrappers/motorControl/right_arm_mc_wrapper.xml
+++ b/iCubMunich01/wrappers/motorControl/right_arm-mc_remapper.xml
@@ -1,20 +1,17 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_mc_wrapper" type="controlboardwrapper2">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="right_arm_joints">(  0  7  0  7 )</elem>
         <elem name="right_hand_joints">( 8 15  0  7 )</elem>
     </paramlist>
-    <param name="period"> 10 			</param>
-    <param name="name">   /icub/right_arm	</param>
-    <param name="ports">  right_arm		</param>
-    <param name="joints"> 16			</param>
+    <param name="joints"> 16 </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
-            <elem name="right_arm_joints">  right_arm_mc </elem>
+            <elem name="right_arm_joints"> right_arm_mc </elem>
             <elem name="right_hand_joints"> right_hand_mc </elem>
-            <elem name="Calibrator"> right_arm_calibrator </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubMunich01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_arm-mc_wrapper.xml
new file mode 100644
index 0000000000..15bc4d3c12
--- /dev/null
+++ b/iCubMunich01/wrappers/motorControl/right_arm-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/right_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> right_arm-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubMunich01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubMunich01/wrappers/motorControl/right_leg-mc_remapper.xml
new file mode 100644
index 0000000000..a50e5a5c11
--- /dev/null
+++ b/iCubMunich01/wrappers/motorControl/right_leg-mc_remapper.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="right_leg_oints">(  0  5  0  5 )</elem>
+    </paramlist>
+    <param name="joints"> 6                   </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="right_leg_joints">  right_leg_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubMunich01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_leg-mc_wrapper.xml
new file mode 100644
index 0000000000..63ef3cb4a7
--- /dev/null
+++ b/iCubMunich01/wrappers/motorControl/right_leg-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/right_leg </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> right_leg-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml
deleted file mode 100644
index 2c9b0f7163..0000000000
--- a/iCubMunich01/wrappers/motorControl/right_leg_mc_wrapper.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="right_joints">(  0  5  0  5 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/right_leg   </param>
-    <param name="ports">  right_leg		</param>
-    <param name="joints"> 6			</param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="right_joints">  right_leg_mc </elem>
-            <elem name="Calibrator"> right_leg_calibrator </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubMunich01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/torso-mc_remapper.xml
similarity index 58%
rename from iCubMunich01/wrappers/motorControl/torso_mc_wrapper.xml
rename to iCubMunich01/wrappers/motorControl/torso-mc_remapper.xml
index 91884cdd9d..21dabf94fa 100644
--- a/iCubMunich01/wrappers/motorControl/torso_mc_wrapper.xml
+++ b/iCubMunich01/wrappers/motorControl/torso-mc_remapper.xml
@@ -1,18 +1,15 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso_mc_wrapper" type="controlboardwrapper2">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="torso_joints">(  0 2 0 2 )</elem>
     </paramlist>
-    <param name="period"> 10 			</param>
-    <param name="name">   /icub/torso		</param>
-    <param name="ports">  torso		</param>
     <param name="joints"> 3			</param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
             <elem name="torso_joints">  torso_mc </elem>
-            <elem name="Calibrator"> torso_calibrator </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubMunich01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubMunich01/wrappers/motorControl/torso-mc_wrapper.xml
new file mode 100644
index 0000000000..89cf257cd6
--- /dev/null
+++ b/iCubMunich01/wrappers/motorControl/torso-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/torso </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> torso-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubPisa01/calibrators/head_calib.xml b/iCubPisa01/calibrators/head_calib.xml
index e87799d84b..dd32d9081f 100644
--- a/iCubPisa01/calibrators/head_calib.xml
+++ b/iCubPisa01/calibrators/head_calib.xml
@@ -8,31 +8,37 @@
             <param name="deviceName"> Head_Calibrator </param>         
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> -30           0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group>   
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             3             0             0             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        2047.5        900           900           </param>       
 <param name="calibration2">               10            10            10            10            20            20            </param>       
-<param name="calibration3">               3257.8        2393.3        377.65        3571.75       0             0             </param>       
+<param name="calibration3">               3257.8        2393.3        377.65        3571.75       0             0             </param>  
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>        
 <param name="startupPosition">               0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            10            10            10            </param>       
 <param name="startupMaxPwm">                     140           140           600           0             0             0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> -30           0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>       
+    
  
         <param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param>          
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubPisa01/calibrators/left_arm_calib.xml b/iCubPisa01/calibrators/left_arm_calib.xml
index d9e65b067c..47ca931123 100644
--- a/iCubPisa01/calibrators/left_arm_calib.xml
+++ b/iCubPisa01/calibrators/left_arm_calib.xml
@@ -8,33 +8,38 @@
             <param name="deviceName"> Left_Arm_Calibrator </param>     
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
+<param name="velocityHome"> 10            10            10            10            30            30            30            100           </param>       
+</group>  
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">	3	3	3	3	0	2	2	3	</param>
 <param name="calibration1">   	2389	3242	-276	1536	800	750	750	2200	</param>
 <param name="calibration2">    	10	10	10	10	20	-10	-10	100	</param>
 <param name="calibration3">      	2433	1472	130	671	0	0	0	0	</param>
-
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>   
 <param name="startupPosition">               -30           30            0             45            0             0             0             15            </param>       
 <param name="startupVelocity">               10            10            10            10            30            30            30            100           </param>       
 <param name="startupMaxPwm">                     120           120           120           120           0             0             0             0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
-<param name="velocityHome"> 10            10            10            10            30            30            30            100           </param>       
-</group>       
+     
  
         <param name="CALIB_ORDER">(0 1 2 3) (4 6 5) (7)</param>      
 
       
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_arm_mc</param>     
+            <param name="target">left_arm-mc_remapper</param>     
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_arm_mc</param>     
+            <param name="target">left_arm-mc_remapper</param>     
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubPisa01/calibrators/left_hand_calib.xml b/iCubPisa01/calibrators/left_hand_calib.xml
index dfd5d32f93..d7a9ed3b3a 100644
--- a/iCubPisa01/calibrators/left_hand_calib.xml
+++ b/iCubPisa01/calibrators/left_hand_calib.xml
@@ -8,32 +8,37 @@
             <param name="deviceName"> Left_Hand_Calibrator </param>    
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
+</group> 
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">	3	4	4	4	4	4	4	4	</param>
 <param name="calibration1">   	817	215	35	255	0	255	8	750	</param>
 <param name="calibration2">    	10	10	30	10	10	10	10	10	</param>
 <param name="calibration3">      	0	6000	6600	6000	7400	6000	-7400	14000	</param>
-
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param> 
 <param name="startupPosition">               30            3             0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               100           100           100           100           100           100           100           100           </param>       
 <param name="startupMaxPwm">                     0             0             0             0             0             0             0             0             </param>       
 <param name="startupPosThreshold">           90            90            90            90            90            90            90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
-</group>       
+      
  
         <param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_hand_mc</param>    
+            <param name="target">left_hand-mc</param>    
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_hand_mc</param>    
+            <param name="target">left_hand-mc</param>    
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubPisa01/calibrators/right_arm_calib.xml b/iCubPisa01/calibrators/right_arm_calib.xml
index 1502a4e5ca..a0767571df 100644
--- a/iCubPisa01/calibrators/right_arm_calib.xml
+++ b/iCubPisa01/calibrators/right_arm_calib.xml
@@ -8,32 +8,37 @@
             <param name="deviceName"> Right_Arm_Calibrator </param>    
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> -30           30            0             45                    </param>       
+<param name="velocityHome"> 10            10            10            10                      </param>       
+</group>       
+ 
+ 
 <group name="CALIBRATION">   
  
 <param name="calibrationType">	3	3	3	3		</param>
 <param name="calibration1">   	1706.25	853.13	2795.32	2559.38	</param>
 <param name="calibration2">    	10.00	10.00	10.00	10.00		</param>
 <param name="calibration3">      	2462.50	2467.13	2931.50	3622.50	</param>
-
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param> 
 <param name="startupPosition">               -30           30            0             45                        </param>       
 <param name="startupVelocity">               10            10            10            10                     </param>       
 <param name="startupMaxPwm">                     120           120           120           120                     </param>       
 <param name="startupPosThreshold">           2             2             2             2                        </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> -30           30            0             45                    </param>       
-<param name="velocityHome"> 10            10            10            10                      </param>       
-</group>       
- 
+
        <param name="CALIB_ORDER">(0 1 2 3)</param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_arm_mc</param>    
+            <param name="target">right_arm-mc_remapper</param>    
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_arm_mc</param>    
+            <param name="target">right_arm-mc_remapper</param>    
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubPisa01/cartesian/left_arm_cartesian.xml b/iCubPisa01/cartesian/left_arm_cartesian.xml
index eb54e7223d..9ec1342a39 100644
--- a/iCubPisa01/cartesian/left_arm_cartesian.xml
+++ b/iCubPisa01/cartesian/left_arm_cartesian.xml
@@ -44,8 +44,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="left_arm">left_arm_mc_wrapper</elem>
+                <elem name="torso">torso-mc_remapper</elem>
+                <elem name="left_arm">left_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubPisa01/cartesian/right_arm_cartesian.xml b/iCubPisa01/cartesian/right_arm_cartesian.xml
index a84100d93e..83c9e62c2b 100644
--- a/iCubPisa01/cartesian/right_arm_cartesian.xml
+++ b/iCubPisa01/cartesian/right_arm_cartesian.xml
@@ -44,8 +44,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="right_arm">right_arm_mc_wrapper</elem>
+                <elem name="torso">torso-mc_remapper</elem>
+                <elem name="right_arm">right_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubPisa01/icub_all.xml b/iCubPisa01/icub_all.xml
index d854ff1372..4852ac3cca 100644
--- a/iCubPisa01/icub_all.xml
+++ b/iCubPisa01/icub_all.xml
@@ -3,9 +3,17 @@
 <robot name="iCubPisa01" build="1" portprefix="icub" xmlns:xi="http://www.w3.org/2001/XInclude">
 
 <devices>
+
+        <!-- cartesian --> 
+    <xi:include href="cartesian/left_arm_cartesian.xml" />
+    <xi:include href="cartesian/right_arm_cartesian.xml" />
+    
     <!-- motor controllers wrappers -->
-    <xi:include href="wrappers/motorControl/left_arm_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/right_arm_mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" /> 
+    <xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
+
     <xi:include href="hardware/motorControl/icub_left_arm.xml" />
     <xi:include href="hardware/motorControl/icub_left_hand.xml" />
     <xi:include href="hardware/motorControl/icub_right_arm.xml" />
diff --git a/iCubPisa01/wrappers/motorControl/head-mc_remapper.xml b/iCubPisa01/wrappers/motorControl/head-mc_remapper.xml
new file mode 100644
index 0000000000..2ecf8ef188
--- /dev/null
+++ b/iCubPisa01/wrappers/motorControl/head-mc_remapper.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="head_joints">(  0  5  0  5 )</elem>
+    </paramlist>
+    <param name="joints"> 6                   </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="head_joints">  head_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubPisa01/wrappers/motorControl/head-mc_wrapper.xml b/iCubPisa01/wrappers/motorControl/head-mc_wrapper.xml
new file mode 100644
index 0000000000..06e2825805
--- /dev/null
+++ b/iCubPisa01/wrappers/motorControl/head-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/head   </param>
+    <action phase="startup" level="10" type="attach">
+            <param name="device">  head-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubPisa01/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubPisa01/wrappers/motorControl/left_arm-mc_remapper.xml
new file mode 100644
index 0000000000..b153e07c3c
--- /dev/null
+++ b/iCubPisa01/wrappers/motorControl/left_arm-mc_remapper.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="left_arm_joints">(  0  7  0  7 )</elem>
+        <elem name="left_hand_joints">( 8 15  0  7 )</elem>
+    </paramlist>
+    <param name="joints"> 16 </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="left_arm_joints"> left_arm_mc </elem>
+            <elem name="left_hand_joints"> left_hand_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubPisa01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubPisa01/wrappers/motorControl/left_arm-mc_wrapper.xml
new file mode 100644
index 0000000000..caf7f8bb4b
--- /dev/null
+++ b/iCubPisa01/wrappers/motorControl/left_arm-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/left_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> left_arm-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubPisa01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubPisa01/wrappers/motorControl/right_arm-mc_remapper.xml
similarity index 57%
rename from iCubPisa01/wrappers/motorControl/right_arm_mc_wrapper.xml
rename to iCubPisa01/wrappers/motorControl/right_arm-mc_remapper.xml
index 0d5ca0f549..d3f30a8298 100644
--- a/iCubPisa01/wrappers/motorControl/right_arm_mc_wrapper.xml
+++ b/iCubPisa01/wrappers/motorControl/right_arm-mc_remapper.xml
@@ -1,17 +1,15 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_mc_wrapper" type="controlboardwrapper2">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="right_arm_joints">(  0  3  0  3 )</elem>
     </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/right_arm   </param>
-    <param name="ports">  right_arm		</param>
-    <param name="joints"> 	4		</param>
+    <param name="joints"> 4 </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
-            <elem name="right_arm_joints">  right_arm_mc </elem>
+            <elem name="right_arm_joints"> right_arm_mc </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubPisa01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubPisa01/wrappers/motorControl/right_arm-mc_wrapper.xml
new file mode 100644
index 0000000000..15bc4d3c12
--- /dev/null
+++ b/iCubPisa01/wrappers/motorControl/right_arm-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/right_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> right_arm-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubPlymouth01/calibrators/head_calib.xml b/iCubPlymouth01/calibrators/head_calib.xml
index c059b91f10..73e39851ef 100644
--- a/iCubPlymouth01/calibrators/head_calib.xml
+++ b/iCubPlymouth01/calibrators/head_calib.xml
@@ -23,6 +23,10 @@
 <param name="calibration1">                       2047.5     2047.5  2047.5  2047.5     900.0     900.0        </param>
 <param name="calibration2">                       10.0       10.0    10.0    10.0       20.0      20.0         </param>
 <param name="calibration3">                       3697.5     2103.5  1891.5  3617.5     0.0       0.0          </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
 <param name="startupPosition">                       0.0        0.0     0.0     0.0        0.0       0.0          </param>
 <param name="startupVelocity">                       10.0       10.0    10.0    10.0       10.0      10.0         </param>
 <param name="startupMaxPwm">                             130        130     0       0          0         0            </param>
@@ -32,11 +36,11 @@
         <param name="CALIB_ORDER"> (0 1 2) (3) (4) (5) </param>          
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubPlymouth01/calibrators/left_arm_calib.xml b/iCubPlymouth01/calibrators/left_arm_calib.xml
index e55c3488b6..7194fbac5a 100644
--- a/iCubPlymouth01/calibrators/left_arm_calib.xml
+++ b/iCubPlymouth01/calibrators/left_arm_calib.xml
@@ -22,6 +22,10 @@
 <param name="calibration1">                       2388.8     3241.9     -275.9     1535.6     500.0      2047.5     2047.5     2155.0     </param>
 <param name="calibration2">                       10.0       10.0       10.0       10.0       20.0       10.0       10.0       100.0      </param>
 <param name="calibration3">                       2765.5     3723.9     807.6      2094.5     0.0        3609.5     1090.5     0.0        </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
 <param name="startupPosition">                       -30.0      30.0       0.0        45.0       0.0        0.0        0.0        15.0       </param>
 <param name="startupVelocity">                       10.0       10.0       10.0       10.0       30.0       30.0       30.0       100.0      </param>
 <param name="startupMaxPwm">                             120        120        120        120        0          0          0          0          </param>
@@ -32,11 +36,11 @@
         <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>        
  
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_arm_mc</param>     
+            <param name="target">left_arm-mc_remapper</param>     
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_arm_mc</param>     
+            <param name="target">left_arm-mc_remapper</param>     
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubPlymouth01/calibrators/left_hand_calib.xml b/iCubPlymouth01/calibrators/left_hand_calib.xml
index 2565dd0adb..fab6f540d1 100644
--- a/iCubPlymouth01/calibrators/left_hand_calib.xml
+++ b/iCubPlymouth01/calibrators/left_hand_calib.xml
@@ -22,6 +22,10 @@
 <param name="calibration1">                                                                                               817.8    255.0    30.0     255.0    25.0     255.0    40.0     757.0    </param>
 <param name="calibration2">                                                                                               10.0     10.0     30.0     10.0     10.0     10.0     10.0     10.0     </param>
 <param name="calibration3">                                                                                               0.0      6000.0   -6600.0  6000.0   7000.0   6000.0   -7000.0  -14000.0 </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
 <param name="startupPosition">                                                                                               45.0     0.0      0.0      0.0      0.0      0.0      0.0      0.0      </param>
 <param name="startupVelocity">                                                                                               100.0    100.0    100.0    100.0    100.0    100.0    100.0    100.0    </param>
 <param name="startupMaxPwm">                                                                                                     0        0        0        0        0        0        0        0        </param>
@@ -33,11 +37,11 @@
         <param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_hand_mc</param>    
+            <param name="target">left_hand-mc</param>    
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_hand_mc</param>    
+            <param name="target">left_hand-mc</param>    
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubPlymouth01/calibrators/left_leg_calib.xml b/iCubPlymouth01/calibrators/left_leg_calib.xml
index 227edea9ce..58d5e97166 100644
--- a/iCubPlymouth01/calibrators/left_leg_calib.xml
+++ b/iCubPlymouth01/calibrators/left_leg_calib.xml
@@ -23,6 +23,10 @@
 <param name="calibration1">                       2047.5         2047.5     2047.5       2047.5      2047.5    2047.5      </param>
 <param name="calibration2">                       10.0           10.0       10.0         10.0        10.0      10.0        </param>
 <param name="calibration3">                       3089.5         1919.5     3025.5       2677.5      1569.5    3107.5      </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
 <param name="startupPosition">                       0.0            0.0        0.0          0.0         0.0       0.0         </param>
 <param name="startupVelocity">                       10.0           10.0       10.0         10.0        10.0      10.0        </param>
 <param name="startupMaxPwm">                             120            120        120          120         120       120         </param>
@@ -33,11 +37,11 @@
         <param name="CALIB_ORDER">(0 1 2 3 4 5) </param>               
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_leg_mc_wrapper</param>           
+            <param name="target">left_leg-mc_remapper</param>           
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_leg_mc_wrapper</param>           
+            <param name="target">left_leg-mc_remapper</param>           
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubPlymouth01/calibrators/right_arm_calib.xml b/iCubPlymouth01/calibrators/right_arm_calib.xml
index e4b3978584..86218480de 100644
--- a/iCubPlymouth01/calibrators/right_arm_calib.xml
+++ b/iCubPlymouth01/calibrators/right_arm_calib.xml
@@ -22,6 +22,10 @@
 <param name="calibration1">                       1706.3    853.1     2795.3    2559.4    500.0     2047.5    2047.5    1870.0    </param>
 <param name="calibration2">                       10.0      10.0      10.0      10.0      -20.0     10.0      10.0      100.0     </param>
 <param name="calibration3">                       2839.5    2496.1    776.8     1152.5    0.0       2357.5    2357.5    0.0       </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
 <param name="startupPosition">                       -30.0     30.0      0.0       45.0      0.0       0.0       0.0       15.0      </param>
 <param name="startupVelocity">                       10.0      10.0      10.0      10.0      30.0      30.0      30.0      100.0     </param>
 <param name="startupMaxPwm">                             120       120       120       120       0         0         0         0         </param>
@@ -30,11 +34,11 @@
        <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_arm_mc</param>    
+            <param name="target">right_arm-mc_remapper</param>    
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_arm_mc</param>    
+            <param name="target">right_arm-mc_remapper</param>    
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubPlymouth01/calibrators/right_hand_calib.xml b/iCubPlymouth01/calibrators/right_hand_calib.xml
index 27c836050b..48676a83de 100644
--- a/iCubPlymouth01/calibrators/right_hand_calib.xml
+++ b/iCubPlymouth01/calibrators/right_hand_calib.xml
@@ -22,6 +22,10 @@
 <param name="calibration1">                                                                                               413.3    255.0    15.0     255.0    35.0     250.0    0.0      765.0    </param>
 <param name="calibration2">                                                                                               10.0     10.0     30.0     10.0     10.0     10.0     10.0     10.0     </param>
 <param name="calibration3">                                                                                               0.0      6000.0   6600.0   6000.0   -7000.0  6000.0   7000.0   14000.0  </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
 <param name="startupPosition">                                                                                               45.0     0.0      0.0      0.0      0.0      0.0      0.0      0.0      </param>
 <param name="startupVelocity">                                                                                               100.0    100.0    100.0    100.0    100.0    100.0    100.0    100.0    </param>
 <param name="startupMaxPwm">                                                                                                     0        0        0        0        0        0        0        0        </param>
@@ -32,11 +36,11 @@
         <param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_hand_mc</param>   
+            <param name="target">right_hand-mc</param>   
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_hand_mc</param>   
+            <param name="target">right_hand-mc</param>   
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubPlymouth01/calibrators/right_leg_calib.xml b/iCubPlymouth01/calibrators/right_leg_calib.xml
index 2560b1f5a7..90d6d29fe6 100644
--- a/iCubPlymouth01/calibrators/right_leg_calib.xml
+++ b/iCubPlymouth01/calibrators/right_leg_calib.xml
@@ -24,6 +24,10 @@
 <param name="calibration1">                       2047.5          2047.5      2047.5    2047.5         2047.5        2047.5        </param>
 <param name="calibration2">                       10.0            10.0        10.0      10.0           10.0          10.0          </param>
 <param name="calibration3">                       3744.5          398.5       1802.5    372.5          2473.5        502.5         </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
 <param name="startupPosition">                       0.0             0.0         0.0       0.0            0.0           0.0           </param>
 <param name="startupVelocity">                       10.0            10.0        10.0      10.0           10.0          10.0          </param>
 <param name="startupMaxPwm">                             120             120         120       120            120           120           </param>
@@ -33,11 +37,11 @@
         <param name="CALIB_ORDER">(0 1 2 3 4 5) </param>               
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_leg_mc_wrapper</param>          
+            <param name="target">right_leg-mc_remapper</param>          
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_leg_mc_wrapper</param>          
+            <param name="target">right_leg-mc_remapper</param>          
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubPlymouth01/calibrators/torso_calib.xml b/iCubPlymouth01/calibrators/torso_calib.xml
index e918372bf6..11605c7762 100644
--- a/iCubPlymouth01/calibrators/torso_calib.xml
+++ b/iCubPlymouth01/calibrators/torso_calib.xml
@@ -23,6 +23,10 @@
 <param name="calibration1">                       2047.5   2047.5  2047.5   0             </param> 
 <param name="calibration2">                       10.0     10.0    10.0     0             </param> 
 <param name="calibration3">                       1433.5   1196.5  2273.5   0             </param> 
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
 <param name="startupPosition">                       0.0      0.0     0.0      0             </param> 
 <param name="startupVelocity">                       10.0     10.0    10.0     0             </param> 
 <param name="startupMaxPwm">                             120      120     120      0             </param> 
@@ -32,11 +36,11 @@
        <param name="CALIB_ORDER"> (0 1 2) </param>       
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">torso_mc_wrapper</param>              
+            <param name="target">torso-mc_remapper</param>              
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">torso_mc_wrapper</param>              
+            <param name="target">torso-mc_remapper</param>              
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubPlymouth01/cartesian/left_arm_cartesian.xml b/iCubPlymouth01/cartesian/left_arm_cartesian.xml
index dbff945a9d..64dbb0d548 100644
--- a/iCubPlymouth01/cartesian/left_arm_cartesian.xml
+++ b/iCubPlymouth01/cartesian/left_arm_cartesian.xml
@@ -42,8 +42,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="left_arm">left_arm_mc_wrapper</elem>
+                <elem name="torso">torso-mc_remapper</elem>
+                <elem name="left_arm">left_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubPlymouth01/cartesian/right_arm_cartesian.xml b/iCubPlymouth01/cartesian/right_arm_cartesian.xml
index 9f49439b3e..0b60f8ea51 100644
--- a/iCubPlymouth01/cartesian/right_arm_cartesian.xml
+++ b/iCubPlymouth01/cartesian/right_arm_cartesian.xml
@@ -42,8 +42,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="right_arm">right_arm_mc_wrapper</elem>
+                <elem name="torso">torso-mc_remapper</elem>
+                <elem name="right_arm">right_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubPlymouth01/icub_all.xml b/iCubPlymouth01/icub_all.xml
index 483831b4dc..2d73faf251 100644
--- a/iCubPlymouth01/icub_all.xml
+++ b/iCubPlymouth01/icub_all.xml
@@ -7,12 +7,18 @@
     <xi:include href="cartesian/right_arm_cartesian.xml" />
     
     <!-- motor controllers wrappers -->
-    <xi:include href="wrappers/motorControl/left_arm_mc_wrapper.xml" /> 
-    <xi:include href="wrappers/motorControl/right_arm_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/left_leg_mc_wrapper.xml" /> 
-    <xi:include href="wrappers/motorControl/right_leg_mc_wrapper.xml" /> 
-    <xi:include href="wrappers/motorControl/head_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/torso_mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" /> 
+    <xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" /> 
+    <xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" /> 
+    <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" /> 
+    <xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" /> 
+    <xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" /> 
     <xi:include href="hardware/motorControl/icub_left_arm.xml" /> 
     <xi:include href="hardware/motorControl/icub_left_hand.xml" /> 
     <xi:include href="hardware/motorControl/icub_right_arm.xml" />
diff --git a/iCubPlymouth01/wrappers/motorControl/head-mc_remapper.xml b/iCubPlymouth01/wrappers/motorControl/head-mc_remapper.xml
new file mode 100644
index 0000000000..2ecf8ef188
--- /dev/null
+++ b/iCubPlymouth01/wrappers/motorControl/head-mc_remapper.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="head_joints">(  0  5  0  5 )</elem>
+    </paramlist>
+    <param name="joints"> 6                   </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="head_joints">  head_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubPlymouth01/wrappers/motorControl/head-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/head-mc_wrapper.xml
new file mode 100644
index 0000000000..06e2825805
--- /dev/null
+++ b/iCubPlymouth01/wrappers/motorControl/head-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/head   </param>
+    <action phase="startup" level="10" type="attach">
+            <param name="device">  head-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubPlymouth01/wrappers/motorControl/head_mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/head_mc_wrapper.xml
deleted file mode 100644
index 0144ab6615..0000000000
--- a/iCubPlymouth01/wrappers/motorControl/head_mc_wrapper.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="head_joints">(  0 5 0 5 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/head   </param>
-    <param name="ports">  head        </param>
-    <param name="joints"> 6           </param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="head_joints">  head_mc </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubPlymouth01/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubPlymouth01/wrappers/motorControl/left_arm-mc_remapper.xml
new file mode 100644
index 0000000000..b153e07c3c
--- /dev/null
+++ b/iCubPlymouth01/wrappers/motorControl/left_arm-mc_remapper.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="left_arm_joints">(  0  7  0  7 )</elem>
+        <elem name="left_hand_joints">( 8 15  0  7 )</elem>
+    </paramlist>
+    <param name="joints"> 16 </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="left_arm_joints"> left_arm_mc </elem>
+            <elem name="left_hand_joints"> left_hand_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubPlymouth01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/left_arm-mc_wrapper.xml
new file mode 100644
index 0000000000..caf7f8bb4b
--- /dev/null
+++ b/iCubPlymouth01/wrappers/motorControl/left_arm-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/left_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> left_arm-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubPlymouth01/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/left_arm_mc_wrapper.xml
deleted file mode 100644
index 4acf5d13e1..0000000000
--- a/iCubPlymouth01/wrappers/motorControl/left_arm_mc_wrapper.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="left_arm_joints">(  0  7  0  7 )</elem>
-        <elem name="left_hand_joints">( 8 15  0  7 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/left_arm   </param>
-    <param name="ports">  left_arm		</param>
-    <param name="joints"> 16			</param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="left_arm_joints">  left_arm_mc </elem>
-            <elem name="left_hand_joints"> left_hand_mc </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubGrenoble01/wrappers/motorControl/left_leg_mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/left_leg-mc_remapper.xml
similarity index 65%
rename from iCubGrenoble01/wrappers/motorControl/left_leg_mc_wrapper.xml
rename to iCubPlymouth01/wrappers/motorControl/left_leg-mc_remapper.xml
index eece297558..04e89de94d 100644
--- a/iCubGrenoble01/wrappers/motorControl/left_leg_mc_wrapper.xml
+++ b/iCubPlymouth01/wrappers/motorControl/left_leg-mc_remapper.xml
@@ -1,18 +1,14 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_mc_wrapper" type="controlboardwrapper2">
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-mc_remapper" type="controlboardremapper">
     <paramlist name="networks">
         <elem name="left_leg_joints">(  0  5  0  5 )</elem>
     </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/left_leg   </param>
-    <param name="ports">  left_leg            </param>
     <param name="joints"> 6                   </param>
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
             <elem name="left_leg_joints">  left_leg_mc </elem>
-            <elem name="Calibrator"> left_leg_calibrator </elem>
         </paramlist>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="20" type="detach" />
 </device>
diff --git a/iCubPlymouth01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/left_leg-mc_wrapper.xml
new file mode 100644
index 0000000000..64e5ab7e13
--- /dev/null
+++ b/iCubPlymouth01/wrappers/motorControl/left_leg-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/left_leg </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> left_leg-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubPlymouth01/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubPlymouth01/wrappers/motorControl/right_arm-mc_remapper.xml
new file mode 100644
index 0000000000..8354c4b8f6
--- /dev/null
+++ b/iCubPlymouth01/wrappers/motorControl/right_arm-mc_remapper.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="right_arm_joints">(  0  7  0  7 )</elem>
+        <elem name="right_hand_joints">( 8 15  0  7 )</elem>
+    </paramlist>
+    <param name="joints"> 16 </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="right_arm_joints"> right_arm_mc </elem>
+            <elem name="right_hand_joints"> right_hand_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubPlymouth01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/right_arm-mc_wrapper.xml
new file mode 100644
index 0000000000..15bc4d3c12
--- /dev/null
+++ b/iCubPlymouth01/wrappers/motorControl/right_arm-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/right_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> right_arm-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubPlymouth01/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/right_arm_mc_wrapper.xml
deleted file mode 100644
index 4d112722f6..0000000000
--- a/iCubPlymouth01/wrappers/motorControl/right_arm_mc_wrapper.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="right_arm_joints">(  0  7  0  7 )</elem>
-        <elem name="right_hand_joints">( 8 15  0  7 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/right_arm   </param>
-    <param name="ports">  right_arm		</param>
-    <param name="joints"> 16			</param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="right_arm_joints">  right_arm_mc </elem>
-            <elem name="right_hand_joints"> right_hand_mc </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubPlymouth01/wrappers/motorControl/right_leg-mc_remapper.xml b/iCubPlymouth01/wrappers/motorControl/right_leg-mc_remapper.xml
new file mode 100644
index 0000000000..a50e5a5c11
--- /dev/null
+++ b/iCubPlymouth01/wrappers/motorControl/right_leg-mc_remapper.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="right_leg_oints">(  0  5  0  5 )</elem>
+    </paramlist>
+    <param name="joints"> 6                   </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="right_leg_joints">  right_leg_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubPlymouth01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/right_leg-mc_wrapper.xml
new file mode 100644
index 0000000000..63ef3cb4a7
--- /dev/null
+++ b/iCubPlymouth01/wrappers/motorControl/right_leg-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/right_leg </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> right_leg-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubPlymouth01/wrappers/motorControl/right_leg_mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/right_leg_mc_wrapper.xml
deleted file mode 100644
index 8a3005e929..0000000000
--- a/iCubPlymouth01/wrappers/motorControl/right_leg_mc_wrapper.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="right_joints">(  0  5  0  5 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/right_leg   </param>
-    <param name="ports">  right_leg		</param>
-    <param name="joints"> 6			</param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="right_joints">  right_leg_mc </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubPlymouth01/wrappers/motorControl/torso-mc_remapper.xml b/iCubPlymouth01/wrappers/motorControl/torso-mc_remapper.xml
new file mode 100644
index 0000000000..21dabf94fa
--- /dev/null
+++ b/iCubPlymouth01/wrappers/motorControl/torso-mc_remapper.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="torso_joints">(  0 2 0 2 )</elem>
+    </paramlist>
+    <param name="joints"> 3			</param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="torso_joints">  torso_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubPlymouth01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/torso-mc_wrapper.xml
new file mode 100644
index 0000000000..89cf257cd6
--- /dev/null
+++ b/iCubPlymouth01/wrappers/motorControl/torso-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/torso </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> torso-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubPlymouth01/wrappers/motorControl/torso_mc_wrapper.xml b/iCubPlymouth01/wrappers/motorControl/torso_mc_wrapper.xml
deleted file mode 100644
index 2f8741e85a..0000000000
--- a/iCubPlymouth01/wrappers/motorControl/torso_mc_wrapper.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="torso_joints">(  0 2 0 2 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/torso   </param>
-    <param name="ports">  torso		</param>
-    <param name="joints"> 3			</param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="torso_joints">  torso_mc </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubPlymouth02/calibrators/head_calib.xml b/iCubPlymouth02/calibrators/head_calib.xml
index 20115ec3ee..c7339ae353 100644
--- a/iCubPlymouth02/calibrators/head_calib.xml
+++ b/iCubPlymouth02/calibrators/head_calib.xml
@@ -1,36 +1,43 @@
 <?xml version="1.0" encoding="UTF-8" ?>    
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">
-                             
+                                 <xi:include href="../general.xml" />
+            
         <group name="GENERAL">             
             <param name="joints"> 6 </param>             
             <param name="deviceName"> HeadV1_Calibrator </param>
         </group>             
  
+ <group name="HOME">          
+            <param name="positionHome">              -30            0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group>    
+
 <group name="CALIBRATION">   
 <param name="calibrationType">            0             0             0             0             0             0             </param>       
 <param name="calibration1">               500           1333          1333          600           500           500           </param>       
 <param name="calibration2">               20            20            20            -20           20            20            </param>       
-<param name="calibration3">               0             0             0             0             0             0             </param>       
+<param name="calibration3">               0             0             0             0             0             0             </param>  
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>     
 <param name="startupPosition">               0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            10            10            10            </param>       
 <param name="startupMaxPwm">                     0             0             0             0             0             0             </param>       
             <param name="startupPosThreshold">           2             2             2             2             180           180           </param>       
 </group>       
  
-<group name="HOME">          
-            <param name="positionHome">              -30            0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>       
+   
  
         <param name="CALIB_ORDER"> (0) (1) (2) (3) (4) (5) </param>
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubPlymouth02/icub_all.xml b/iCubPlymouth02/icub_all.xml
index 7a4539e26a..6da752e201 100644
--- a/iCubPlymouth02/icub_all.xml
+++ b/iCubPlymouth02/icub_all.xml
@@ -3,7 +3,9 @@
 
    <devices>
     <!-- motor controllers wrappers -->
-    <xi:include href="wrappers/motorControl/head_mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
+
     <xi:include href="hardware/motorControl/icub_head.xml" />
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
diff --git a/iCubPlymouth02/wrappers/motorControl/head-mc_remapper.xml b/iCubPlymouth02/wrappers/motorControl/head-mc_remapper.xml
new file mode 100644
index 0000000000..2ecf8ef188
--- /dev/null
+++ b/iCubPlymouth02/wrappers/motorControl/head-mc_remapper.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="head_joints">(  0  5  0  5 )</elem>
+    </paramlist>
+    <param name="joints"> 6                   </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="head_joints">  head_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubPlymouth02/wrappers/motorControl/head-mc_wrapper.xml b/iCubPlymouth02/wrappers/motorControl/head-mc_wrapper.xml
new file mode 100644
index 0000000000..06e2825805
--- /dev/null
+++ b/iCubPlymouth02/wrappers/motorControl/head-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/head   </param>
+    <action phase="startup" level="10" type="attach">
+            <param name="device">  head-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubPlymouth02/wrappers/motorControl/head_mc_wrapper.xml b/iCubPlymouth02/wrappers/motorControl/head_mc_wrapper.xml
deleted file mode 100644
index 0144ab6615..0000000000
--- a/iCubPlymouth02/wrappers/motorControl/head_mc_wrapper.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="head_joints">(  0 5 0 5 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/head   </param>
-    <param name="ports">  head        </param>
-    <param name="joints"> 6           </param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="head_joints">  head_mc </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubRome02/calibrators/head_calib.xml b/iCubRome02/calibrators/head_calib.xml
index 539a36e61d..430a80c8d7 100644
--- a/iCubRome02/calibrators/head_calib.xml
+++ b/iCubRome02/calibrators/head_calib.xml
@@ -7,32 +7,37 @@
             <param name="deviceName"> Head_Calibrator </param>         
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> -40           0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group>   
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            0             0             0             0             0             0             </param>       
 <param name="calibration1">   	1333	1333	1333	600	500	500							</param>
 <param name="calibration2">    	40	40	40	-20	20	20							</param>
 <param name="calibration3">      	0	0	0	0	0	0							</param>
-
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param> 
 <param name="startupPosition">               0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            10            10            10            </param>       
 <param name="startupMaxPwm">                     1300          1300          1330          1300          1300          1300          </param>       
 <param name="startupPosThreshold">           2             2             180           2             180           180           </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> -40           0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>       
+    
  
         <param name="CALIB_ORDER"> (0) (1) (2 3) (5) (4) </param>      
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubRome02/calibrators/left_arm_calib.xml b/iCubRome02/calibrators/left_arm_calib.xml
index 7bcc3568b9..8cd52f1795 100644
--- a/iCubRome02/calibrators/left_arm_calib.xml
+++ b/iCubRome02/calibrators/left_arm_calib.xml
@@ -7,32 +7,37 @@
             <param name="deviceName"> Left_Arm_Calibrator </param>     
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
+<param name="velocityHome"> 10            10            10            10            30            30            30            100           </param>       
+</group> 
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             3             0             2             2             3             </param>       
 <param name="calibration1">   	2388.75	3241.875	-275.9326923077	1535.625	500	750	750	1740	</param>
 <param name="calibration2">    	10	10	10	10	20	-10	-10	100	</param>
 <param name="calibration3">      	1452.5	3582.875	2728.375	3243.5	0	0	0	0	</param>
-
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param> 
 <param name="startupPosition">               -30           30            0             45            0             0             0             15            </param>       
 <param name="startupVelocity">               10            10            10            10            30            30            30            100           </param>       
 <param name="startupMaxPwm">                     120           120           120           120           0             0             0             0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
-<param name="velocityHome"> 10            10            10            10            30            30            30            100           </param>       
-</group>       
+      
  
         <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>        
  
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_arm_mc</param>     
+            <param name="target">left_arm-mc_remapper</param>     
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_arm_mc</param>     
+            <param name="target">left_arm-mc_remapper</param>     
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubRome02/calibrators/left_hand_calib.xml b/iCubRome02/calibrators/left_hand_calib.xml
index 2621603b08..4c677240af 100644
--- a/iCubRome02/calibrators/left_hand_calib.xml
+++ b/iCubRome02/calibrators/left_hand_calib.xml
@@ -7,32 +7,37 @@
             <param name="deviceName"> Left_Hand_Calibrator </param>    
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
+</group>  
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             4             4             4             4             4             4             4             </param>       
 <param name="calibration1">   	365.56	250	0	232	26	250	0	703	</param>
 <param name="calibration2">    	10	10	30	10	10	10	10	10	</param>
 <param name="calibration3">      	0	6000	8000	6000	7400	6000	-7400	30000	</param>
-
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param> 
 <param name="startupPosition">         30               3             0             0             0             0             0             0             </param>       
 <param name="startupVelocity">         100              100           100           100           100           100           100           100           </param>       
 <param name="startupMaxPwm">            0             0             0             0             0             0             0             0             </param>       
 <param name="startupPosThreshold">      90            90            90            90            90            90            90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
-</group>       
+     
  
         <param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">left_hand_mc</param>    
+            <param name="target">left_hand-mc</param>    
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">left_hand_mc</param>    
+            <param name="target">left_hand-mc</param>    
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubRome02/calibrators/right_arm_calib.xml b/iCubRome02/calibrators/right_arm_calib.xml
index e306703930..669f98e6bf 100644
--- a/iCubRome02/calibrators/right_arm_calib.xml
+++ b/iCubRome02/calibrators/right_arm_calib.xml
@@ -7,13 +7,21 @@
             <param name="deviceName"> Right_Arm_Calibrator </param>    
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
+<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
+</group>    
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             3             3             3             0             2             2             3             </param>       
 <param name="calibration1">   	1706.25	853.13	2795.32	2559.38	500.00	750.00	750.00	1460.00	</param>
 <param name="calibration2">    	10.00	10.00	10.00	10.00	-20.00	10.00	10.00	100.00	</param>
 <param name="calibration3">      	3866.50	3724.13	1436.50	3461.50	0.00	0.00	0.00	0.00	</param>
-
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param> 
 
 <param name="startupPosition">               -30           30            0             45            0             0             0             15            </param>       
 <param name="startupVelocity">               10            10            10            10            30            10            10            100           </param>       
@@ -21,19 +29,16 @@
 <param name="startupPosThreshold">           2             2             2             2             2             2             90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
-<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
-</group>       
+   
  
        <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_arm_mc</param>    
+            <param name="target">right_arm-mc_remapper</param>    
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_arm_mc</param>    
+            <param name="target">right_arm-mc_remapper</param>    
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubRome02/calibrators/right_hand_calib.xml b/iCubRome02/calibrators/right_hand_calib.xml
index 4c8c97fb1e..fa189907dd 100644
--- a/iCubRome02/calibrators/right_hand_calib.xml
+++ b/iCubRome02/calibrators/right_hand_calib.xml
@@ -7,32 +7,37 @@
             <param name="deviceName"> Right_Hand_Calibrator </param>   
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
+</group>  
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3             4             4             4             4             4             4             4             </param>       
 <param name="calibration1">   	908.33	250.00	10.00	253.00	43.00	250.00	38.00	750.00	</param>
 <param name="calibration2">    	10.00	10.00	30.00	10.00	10.00	10.00	10.00	10.00	</param>
 <param name="calibration3">      	0.00	6000.00	8000.00	6000.00	-7400.00	6000.00	7400.00	21000.00	</param>
-  
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param> 
 <param name="startupPosition">               30            3             0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               100           100           100           100           100           100           100           100           </param>       
 <param name="startupMaxPwm">                     0             0             0             0             0             0             0             0             </param>       
 <param name="startupPosThreshold">           90            90            90            90            90            90            90            90            </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
-</group>       
+     
  
         <param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>         
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_hand_mc</param>   
+            <param name="target">right_hand-mc</param>   
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_hand_mc</param>   
+            <param name="target">right_hand-mc</param>   
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubRome02/calibrators/torso_calib.xml b/iCubRome02/calibrators/torso_calib.xml
index 8b11ac9b1f..23582c05e3 100644
--- a/iCubRome02/calibrators/torso_calib.xml
+++ b/iCubRome02/calibrators/torso_calib.xml
@@ -7,32 +7,37 @@
             <param name="deviceName"> Torso_Calibrator </param>        
         </group>             
  
+ <group name="HOME">          
+<param name="positionHome"> 0             0             -20           0             </param>       
+<param name="velocityHome"> 10            10            10            0             </param>       
+</group>   
+
 <group name="CALIBRATION">   
  
 <param name="calibrationType">            3     3       3          0    </param>       
 <param name="calibration1">   	2047.5	2047.5	2047.5	0			</param>
 <param name="calibration2">    	10	10	10	0			</param>
 <param name="calibration3">      	2539.5	2643.5	1614.5	0			</param>
-
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param> 
 <param name="startupPosition">               0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            0             </param>       
 <param name="startupMaxPwm">                     120           120           120           0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             </param>       
 </group>       
  
-<group name="HOME">          
-<param name="positionHome"> 0             0             -20           0             </param>       
-<param name="velocityHome"> 10            10            10            0             </param>       
-</group>       
+    
  
        <param name="CALIB_ORDER"> (0 1 2) </param>       
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">torso_mc_wrapper</param>              
+            <param name="target">torso-mc_remapper</param>              
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">torso_mc_wrapper</param>              
+            <param name="target">torso-mc_remapper</param>              
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubRome02/cartesian/left_arm_cartesian.xml b/iCubRome02/cartesian/left_arm_cartesian.xml
index 655d4de79f..e3d6fb6c9c 100644
--- a/iCubRome02/cartesian/left_arm_cartesian.xml
+++ b/iCubRome02/cartesian/left_arm_cartesian.xml
@@ -42,8 +42,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="left_arm">left_arm_mc_wrapper</elem>
+                <elem name="torso">torso-mc_remapper</elem>
+                <elem name="left_arm">left_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubRome02/cartesian/right_arm_cartesian.xml b/iCubRome02/cartesian/right_arm_cartesian.xml
index d2d6b31782..158930717a 100644
--- a/iCubRome02/cartesian/right_arm_cartesian.xml
+++ b/iCubRome02/cartesian/right_arm_cartesian.xml
@@ -42,8 +42,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="right_arm">right_arm_mc_wrapper</elem>
+                <elem name="torso">torso-mc_remapper</elem>
+                <elem name="right_arm">right_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubRome02/icub_all.xml b/iCubRome02/icub_all.xml
index 106aafedb5..85ebd5d486 100644
--- a/iCubRome02/icub_all.xml
+++ b/iCubRome02/icub_all.xml
@@ -7,10 +7,16 @@
     <xi:include href="cartesian/right_arm_cartesian.xml" />
     
     <!-- motor controllers wrappers -->
-    <xi:include href="wrappers/motorControl/left_arm_mc_wrapper.xml" /> 
-    <xi:include href="wrappers/motorControl/right_arm_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/head_mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/torso_mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" /> 
+    <xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
+
+    <xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" /> 
+    <xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
+
     <xi:include href="hardware/motorControl/icub_left_arm.xml" /> 
     <xi:include href="hardware/motorControl/icub_left_hand.xml" /> 
     <xi:include href="hardware/motorControl/icub_right_arm.xml" />
diff --git a/iCubRome02/wrappers/motorControl/head-mc_remapper.xml b/iCubRome02/wrappers/motorControl/head-mc_remapper.xml
new file mode 100644
index 0000000000..2ecf8ef188
--- /dev/null
+++ b/iCubRome02/wrappers/motorControl/head-mc_remapper.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="head_joints">(  0  5  0  5 )</elem>
+    </paramlist>
+    <param name="joints"> 6                   </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="head_joints">  head_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubRome02/wrappers/motorControl/head-mc_wrapper.xml b/iCubRome02/wrappers/motorControl/head-mc_wrapper.xml
new file mode 100644
index 0000000000..06e2825805
--- /dev/null
+++ b/iCubRome02/wrappers/motorControl/head-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/head   </param>
+    <action phase="startup" level="10" type="attach">
+            <param name="device">  head-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubRome02/wrappers/motorControl/head_mc_wrapper.xml b/iCubRome02/wrappers/motorControl/head_mc_wrapper.xml
deleted file mode 100644
index 0144ab6615..0000000000
--- a/iCubRome02/wrappers/motorControl/head_mc_wrapper.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="head_joints">(  0 5 0 5 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/head   </param>
-    <param name="ports">  head        </param>
-    <param name="joints"> 6           </param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="head_joints">  head_mc </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubRome02/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubRome02/wrappers/motorControl/left_arm-mc_remapper.xml
new file mode 100644
index 0000000000..b153e07c3c
--- /dev/null
+++ b/iCubRome02/wrappers/motorControl/left_arm-mc_remapper.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="left_arm_joints">(  0  7  0  7 )</elem>
+        <elem name="left_hand_joints">( 8 15  0  7 )</elem>
+    </paramlist>
+    <param name="joints"> 16 </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="left_arm_joints"> left_arm_mc </elem>
+            <elem name="left_hand_joints"> left_hand_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubRome02/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubRome02/wrappers/motorControl/left_arm-mc_wrapper.xml
new file mode 100644
index 0000000000..caf7f8bb4b
--- /dev/null
+++ b/iCubRome02/wrappers/motorControl/left_arm-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/left_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> left_arm-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubRome02/wrappers/motorControl/left_arm_mc_wrapper.xml b/iCubRome02/wrappers/motorControl/left_arm_mc_wrapper.xml
deleted file mode 100644
index 4acf5d13e1..0000000000
--- a/iCubRome02/wrappers/motorControl/left_arm_mc_wrapper.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="left_arm_joints">(  0  7  0  7 )</elem>
-        <elem name="left_hand_joints">( 8 15  0  7 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/left_arm   </param>
-    <param name="ports">  left_arm		</param>
-    <param name="joints"> 16			</param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="left_arm_joints">  left_arm_mc </elem>
-            <elem name="left_hand_joints"> left_hand_mc </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubRome02/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubRome02/wrappers/motorControl/right_arm-mc_remapper.xml
new file mode 100644
index 0000000000..8354c4b8f6
--- /dev/null
+++ b/iCubRome02/wrappers/motorControl/right_arm-mc_remapper.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="right_arm_joints">(  0  7  0  7 )</elem>
+        <elem name="right_hand_joints">( 8 15  0  7 )</elem>
+    </paramlist>
+    <param name="joints"> 16 </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="right_arm_joints"> right_arm_mc </elem>
+            <elem name="right_hand_joints"> right_hand_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubRome02/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubRome02/wrappers/motorControl/right_arm-mc_wrapper.xml
new file mode 100644
index 0000000000..15bc4d3c12
--- /dev/null
+++ b/iCubRome02/wrappers/motorControl/right_arm-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/right_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> right_arm-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubRome02/wrappers/motorControl/right_arm_mc_wrapper.xml b/iCubRome02/wrappers/motorControl/right_arm_mc_wrapper.xml
deleted file mode 100644
index 4d112722f6..0000000000
--- a/iCubRome02/wrappers/motorControl/right_arm_mc_wrapper.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="right_arm_joints">(  0  7  0  7 )</elem>
-        <elem name="right_hand_joints">( 8 15  0  7 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/right_arm   </param>
-    <param name="ports">  right_arm		</param>
-    <param name="joints"> 16			</param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="right_arm_joints">  right_arm_mc </elem>
-            <elem name="right_hand_joints"> right_hand_mc </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubRome02/wrappers/motorControl/torso-mc_remapper.xml b/iCubRome02/wrappers/motorControl/torso-mc_remapper.xml
new file mode 100644
index 0000000000..21dabf94fa
--- /dev/null
+++ b/iCubRome02/wrappers/motorControl/torso-mc_remapper.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="torso_joints">(  0 2 0 2 )</elem>
+    </paramlist>
+    <param name="joints"> 3			</param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="torso_joints">  torso_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubRome02/wrappers/motorControl/torso-mc_wrapper.xml b/iCubRome02/wrappers/motorControl/torso-mc_wrapper.xml
new file mode 100644
index 0000000000..89cf257cd6
--- /dev/null
+++ b/iCubRome02/wrappers/motorControl/torso-mc_wrapper.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/torso </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> torso-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/iCubRome02/wrappers/motorControl/torso_mc_wrapper.xml b/iCubRome02/wrappers/motorControl/torso_mc_wrapper.xml
deleted file mode 100644
index 2f8741e85a..0000000000
--- a/iCubRome02/wrappers/motorControl/torso_mc_wrapper.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="torso_joints">(  0 2 0 2 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/torso   </param>
-    <param name="ports">  torso		</param>
-    <param name="joints"> 3			</param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="torso_joints">  torso_mc </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="5" type="detach" />
-</device>
diff --git a/iCubSeoul01/calibrators/head-calib.xml b/iCubSeoul01/calibrators/head-calib.xml
index 2fd3a0672f..2411d1f8ef 100644
--- a/iCubSeoul01/calibrators/head-calib.xml
+++ b/iCubSeoul01/calibrators/head-calib.xml
@@ -19,6 +19,10 @@
 <param name="calibration1">                       2047.5     2047.5  2047.5  2047.5     900.0     900.0        </param>
 <param name="calibration2">                       10.0       10.0    10.0    10.0       20.0      20.0         </param>
 <param name="calibration3">                       1614.5     1648.5  3724.5  2733.5     0.0       0.0          </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param> 
 <param name="startupPosition">                       0.0        0.0     0.0     0.0        0.0       0.0          </param>
 <param name="startupVelocity">                       10.0       10.0    10.0    10.0       10.0      10.0         </param>
 <param name="startupMaxPwm">                             130        130     0       0          0         0            </param>
@@ -28,11 +32,11 @@
         <param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param>          
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">head_mc_wrapper</param>               
+            <param name="target">head-mc_remapper</param>               
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubSeoul01/calibrators/left_arm-calib.xml b/iCubSeoul01/calibrators/left_arm-calib.xml
index e6d3644237..7dbcaf9fee 100644
--- a/iCubSeoul01/calibrators/left_arm-calib.xml
+++ b/iCubSeoul01/calibrators/left_arm-calib.xml
@@ -18,6 +18,10 @@
 <param name="calibration1">                       2388.8     3241.9     -275.9     1535.6     500.0      2047.5     2047.5     1625.0     1204.4     255.0      90.0       255.0      80.0       255.0      95.0       765.0      </param>
 <param name="calibration2">                       10.0       10.0       10.0       10.0       20.0       10.0       10.0       100.0      10.0       10.0       30.0       10.0       10.0       10.0       10.0       10.0       </param>
 <param name="calibration3">                       2669.5     2509.9     2135.3     3067.5     0.0        1122.5     852.5      0.0        0.0        6000.0     -8000.0    6000.0     7000.0     6000.0     -7000.0    -14000.0   </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param> 
 <param name="startupPosition">                       -30.0      30.0       0.0        45.0       0.0        0.0        0.0        15.0       45.0       0.0        0.0        0.0        0.0        0.0        0.0        0.0        </param>
 <param name="startupVelocity">                       10.0       10.0       10.0       10.0       30.0       30.0       30.0       100.0      100.0      100.0      100.0      100.0      100.0      100.0      100.0      100.0      </param>
 <param name="startupMaxPwm">                             130        130        130        130        0          0          0          0          0          0          0          0          0          0          0          0          </param>
@@ -27,11 +31,11 @@
 		<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15) </param>
 
 		<action phase="startup" level="10" type="calibrate">
-		    <param name="target">left_arm_mc_wrapper</param>
+		    <param name="target">left_arm-mc_remapper</param>
 		</action>
 
 		<action phase="interrupt1" level="1" type="park">
-		    <param name="target">left_arm_mc_wrapper</param>
+		    <param name="target">left_arm-mc_remapper</param>
 		</action>
 
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubSeoul01/calibrators/right_arm-calib.xml b/iCubSeoul01/calibrators/right_arm-calib.xml
index e8c49ffed6..b1c94f1e6a 100644
--- a/iCubSeoul01/calibrators/right_arm-calib.xml
+++ b/iCubSeoul01/calibrators/right_arm-calib.xml
@@ -18,6 +18,10 @@
 <param name="calibration1">                       1706.3    853.1     2795.3    2559.4    500.0     2047.5    2047.5    1930.0    1414.4    250.0     35.0      255.0     20.0      255.0     10.0      761.0     </param>
 <param name="calibration2">                       10.0      10.0      10.0      10.0      -20.0     10.0      10.0      100.0     10.0      10.0      30.0      10.0      10.0      10.0      10.0      10.0      </param>
 <param name="calibration3">                       1320.5    1853.1    1319.5    3191.5    0.0       3847.5    2787.5    0.0       0.0       6000.0    8000.0    6000.0    -7000.0   6000.0    7000.0    14000.0   </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param> 
 <param name="startupPosition">                       -30.0     30.0      0.0       45.0      0.0       0.0       0.0       15.0      45.0      0.0       0.0       0.0       0.0       0.0       0.0       0.0       </param>
 <param name="startupVelocity">                       10.0      10.0      10.0      10.0      30.0      30.0      30.0      100.0     100.0     100.0     100.0     100.0     100.0     100.0     100.0     100.0     </param>
 <param name="startupMaxPwm">                             130       130       130       130       0         0         0         0         0         0         0         0         0         0         0         0         </param>
@@ -27,11 +31,11 @@
 		<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15) </param>
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">right_arm_mc_wrapper</param>
+            <param name="target">right_arm-mc_remapper</param>
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">right_arm_mc_wrapper</param>
+            <param name="target">right_arm-mc_remapper</param>
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubSeoul01/calibrators/torso-calib.xml b/iCubSeoul01/calibrators/torso-calib.xml
index eaa9382f08..6d2a90ebed 100644
--- a/iCubSeoul01/calibrators/torso-calib.xml
+++ b/iCubSeoul01/calibrators/torso-calib.xml
@@ -19,6 +19,10 @@
 <param name="calibration1">                       2047.5   2047.5  2047.5  0</param>
 <param name="calibration2">                       10.0     10.0    10.0    0</param>
 <param name="calibration3">                       2646.5   2643.5  2924.5  0</param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param> 
 <param name="startupPosition">                       0.0      0.0     0.0     0</param>
 <param name="startupVelocity">                       10.0     10.0    10.0    0</param>
 <param name="startupMaxPwm">                             130      130     130     0</param>
@@ -28,11 +32,11 @@
        <param name="CALIB_ORDER"> (0 1 2) </param>       
                
         <action phase="startup" level="10" type="calibrate">           
-            <param name="target">torso_mc_wrapper</param>              
+            <param name="target">torso-mc_remapper</param>              
         </action>            
  
         <action phase="interrupt1" level="1" type="park">              
-            <param name="target">torso_mc_wrapper</param>              
+            <param name="target">torso-mc_remapper</param>              
         </action>            
  
         <action phase="interrupt3" level="1" type="abort" />           
diff --git a/iCubSeoul01/cartesian/left_arm-cartesian.xml b/iCubSeoul01/cartesian/left_arm-cartesian.xml
index bf3e961c4d..a54e7a8c9b 100644
--- a/iCubSeoul01/cartesian/left_arm-cartesian.xml
+++ b/iCubSeoul01/cartesian/left_arm-cartesian.xml
@@ -44,8 +44,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="left_arm">left_arm_mc_wrapper</elem>
+                <elem name="torso">torso-mc_remapper</elem>
+                <elem name="left_arm">left_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubSeoul01/cartesian/right_arm-cartesian.xml b/iCubSeoul01/cartesian/right_arm-cartesian.xml
index a75f26fa52..ffca8219bb 100644
--- a/iCubSeoul01/cartesian/right_arm-cartesian.xml
+++ b/iCubSeoul01/cartesian/right_arm-cartesian.xml
@@ -44,8 +44,8 @@
 
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
-                <elem name="torso">torso_mc_wrapper</elem>
-                <elem name="right_arm">right_arm_mc_wrapper</elem>
+                <elem name="torso">torso-mc_remapper</elem>
+                <elem name="right_arm">right_arm-mc_remapper</elem>
           </paramlist>
         </action>
 
diff --git a/iCubSeoul01/icub_all.xml b/iCubSeoul01/icub_all.xml
index 818e3c7e88..67e5e52e4e 100644
--- a/iCubSeoul01/icub_all.xml
+++ b/iCubSeoul01/icub_all.xml
@@ -11,6 +11,12 @@
     <xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
     <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
     <xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
+
+    <xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" /> 
+    <xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
+
     <xi:include href="hardware/motorControl/left_arm-mc.xml" /> 
     <xi:include href="hardware/motorControl/left_hand-mc.xml" /> 
     <xi:include href="hardware/motorControl/right_arm-mc.xml" />
diff --git a/iCubSeoul01/wrappers/motorControl/head-mc_remapper.xml b/iCubSeoul01/wrappers/motorControl/head-mc_remapper.xml
new file mode 100644
index 0000000000..2ecf8ef188
--- /dev/null
+++ b/iCubSeoul01/wrappers/motorControl/head-mc_remapper.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="head_joints">(  0  5  0  5 )</elem>
+    </paramlist>
+    <param name="joints"> 6                   </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="head_joints">  head_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubSeoul01/wrappers/motorControl/head-mc_wrapper.xml b/iCubSeoul01/wrappers/motorControl/head-mc_wrapper.xml
index b219920b04..06e2825805 100644
--- a/iCubSeoul01/wrappers/motorControl/head-mc_wrapper.xml
+++ b/iCubSeoul01/wrappers/motorControl/head-mc_wrapper.xml
@@ -1,17 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="head_joints">(  0 5 0 5 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/head   </param>
-    <param name="ports">  head        </param>
-    <param name="joints"> 6           </param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="head_joints">  head_mc </elem>
-        </paramlist>
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/head   </param>
+    <action phase="startup" level="10" type="attach">
+            <param name="device">  head-mc_remapper </param>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>
diff --git a/iCubSeoul01/wrappers/motorControl/left_arm-mc_remapper.xml b/iCubSeoul01/wrappers/motorControl/left_arm-mc_remapper.xml
new file mode 100644
index 0000000000..b153e07c3c
--- /dev/null
+++ b/iCubSeoul01/wrappers/motorControl/left_arm-mc_remapper.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="left_arm_joints">(  0  7  0  7 )</elem>
+        <elem name="left_hand_joints">( 8 15  0  7 )</elem>
+    </paramlist>
+    <param name="joints"> 16 </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="left_arm_joints"> left_arm_mc </elem>
+            <elem name="left_hand_joints"> left_hand_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubSeoul01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubSeoul01/wrappers/motorControl/left_arm-mc_wrapper.xml
index f0053ddfce..caf7f8bb4b 100644
--- a/iCubSeoul01/wrappers/motorControl/left_arm-mc_wrapper.xml
+++ b/iCubSeoul01/wrappers/motorControl/left_arm-mc_wrapper.xml
@@ -1,19 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="left_arm_joints">(  0  7  0  7 )</elem>
-        <elem name="left_hand_joints">( 8 15  0  7 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/left_arm   </param>
-    <param name="ports">  left_arm		</param>
-    <param name="joints"> 16			</param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="left_arm_joints">  left_arm_mc </elem>
-            <elem name="left_hand_joints"> left_hand_mc </elem>
-        </paramlist>
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/left_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> left_arm-mc_remapper </param>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>
diff --git a/iCubSeoul01/wrappers/motorControl/right_arm-mc_remapper.xml b/iCubSeoul01/wrappers/motorControl/right_arm-mc_remapper.xml
new file mode 100644
index 0000000000..8354c4b8f6
--- /dev/null
+++ b/iCubSeoul01/wrappers/motorControl/right_arm-mc_remapper.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="right_arm_joints">(  0  7  0  7 )</elem>
+        <elem name="right_hand_joints">( 8 15  0  7 )</elem>
+    </paramlist>
+    <param name="joints"> 16 </param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="right_arm_joints"> right_arm_mc </elem>
+            <elem name="right_hand_joints"> right_hand_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubSeoul01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubSeoul01/wrappers/motorControl/right_arm-mc_wrapper.xml
index 3bc291da52..15bc4d3c12 100644
--- a/iCubSeoul01/wrappers/motorControl/right_arm-mc_wrapper.xml
+++ b/iCubSeoul01/wrappers/motorControl/right_arm-mc_wrapper.xml
@@ -1,19 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="right_arm_joints">(  0  7  0  7 )</elem>
-        <elem name="right_hand_joints">( 8 15  0  7 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/right_arm   </param>
-    <param name="ports">  right_arm		</param>
-    <param name="joints"> 16			</param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="right_arm_joints">  right_arm_mc </elem>
-            <elem name="right_hand_joints"> right_hand_mc </elem>
-        </paramlist>
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/right_arm </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> right_arm-mc_remapper </param>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>
diff --git a/iCubSeoul01/wrappers/motorControl/torso-mc_remapper.xml b/iCubSeoul01/wrappers/motorControl/torso-mc_remapper.xml
new file mode 100644
index 0000000000..21dabf94fa
--- /dev/null
+++ b/iCubSeoul01/wrappers/motorControl/torso-mc_remapper.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_remapper" type="controlboardremapper">
+    <paramlist name="networks">
+        <elem name="torso_joints">(  0 2 0 2 )</elem>
+    </paramlist>
+    <param name="joints"> 3			</param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="torso_joints">  torso_mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubSeoul01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubSeoul01/wrappers/motorControl/torso-mc_wrapper.xml
index 8984acb3a7..89cf257cd6 100644
--- a/iCubSeoul01/wrappers/motorControl/torso-mc_wrapper.xml
+++ b/iCubSeoul01/wrappers/motorControl/torso-mc_wrapper.xml
@@ -1,17 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso_mc_wrapper" type="controlboardwrapper2">
-    <paramlist name="networks">
-        <elem name="torso_joints">(  0 2 0 2 )</elem>
-    </paramlist>
-    <param name="period"> 10 </param>
-    <param name="name">   /icub/torso   </param>
-    <param name="ports">  torso		</param>
-    <param name="joints"> 3			</param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="torso_joints">  torso_mc </elem>
-        </paramlist>
+    
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="name"> /icub/torso </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> torso-mc_remapper </param>
     </action>
-    <action phase="shutdown" level="5" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>