diff --git a/experimentalSetups/lego_setup_am2c/calibrators/setup-calib.xml b/experimentalSetups/lego_setup_am2c/calibrators/setup-calib.xml
deleted file mode 100644
index 48f3442d7d..0000000000
--- a/experimentalSetups/lego_setup_am2c/calibrators/setup-calib.xml
+++ /dev/null
@@ -1,47 +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="setup-calibrator" type="parametricCalibratorEth">
-
-    <xi:include href="../general.xml" />
-
-    <group name="GENERAL">
-        <param name="joints"> 1 </param> <!-- the number of joints of the robot part -->
-        <param name="deviceName"> Setup_Calibrator </param>
-    </group>
-
-    <group name="HOME">
-        <param name="positionHome">                     0       </param>
-        <param name="velocityHome">                     10      </param>
-    </group>
-
-    <group name="CALIBRATION">
-        <param name="calibrationType">                  12      </param>
-
-        <param name="calibration1">                     6865    </param>
-        <param name="calibration2">                     0       </param>
-        <param name="calibration3">                     0       </param>
-        <param name="calibration4">                     0       </param>
-        <param name="calibration5">                     0       </param>
-        <param name="calibrationZero">                  0       </param>
-        <param name="calibrationDelta">                 0       </param>
-
-        <param name="startupPosition">                  0.0     </param>
-        <param name="startupVelocity">                  30.0    </param>
-        <param name="startupMaxPwm">                    16000   </param>
-        <param name="startupPosThreshold">              2       </param>
-    </group>
-
-    <param name="CALIB_ORDER"> (0) </param>
-
-    <action phase="startup" level="10" type="calibrate">
-        <param name="target">setup-mc_remapper</param>
-    </action>
-
-    <action phase="interrupt1" level="1" type="park">
-        <param name="target">setup-mc_remapper</param>
-    </action>
-
-    <action phase="interrupt3" level="1" type="abort" />
-
-</device>
\ No newline at end of file
diff --git a/experimentalSetups/lego_setup_am2c/firmwareupdater.ini b/experimentalSetups/lego_setup_am2c/firmwareupdater.ini
deleted file mode 100644
index c93b53ab35..0000000000
--- a/experimentalSetups/lego_setup_am2c/firmwareupdater.ini
+++ /dev/null
@@ -1,2 +0,0 @@
-[DRIVERS]
-ETH "eth"
diff --git a/experimentalSetups/lego_setup_am2c/general.xml b/experimentalSetups/lego_setup_am2c/general.xml
deleted file mode 100644
index 855a7e7b1e..0000000000
--- a/experimentalSetups/lego_setup_am2c/general.xml
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-
-<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="setup" build="1">
-  
-  <group name="GENERAL">
-      <param name="skipCalibration">    false  </param>
-      <param name="useRawEncoderData">  false  </param>
-      <param name="useLimitedPWM">      false  </param>
-      <param name="verbose">            false  </param>
-  </group>
-</params>
diff --git a/experimentalSetups/lego_setup_am2c/hardware/electronics/pc104.xml b/experimentalSetups/lego_setup_am2c/hardware/electronics/pc104.xml
deleted file mode 100644
index 4806b0eeda..0000000000
--- a/experimentalSetups/lego_setup_am2c/hardware/electronics/pc104.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-
-<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="setup" build="1">
-
-    <group name="PC104">
-        <param name="PC104IpAddress">           10.0.1.104      </param>
-        <param name="PC104IpPort">              12345           </param>
-        <param name="PC104TXrate">              1               </param> 
-        <param name="PC104RXrate">              5               </param>
-    </group>
-
-</params>
-
diff --git a/experimentalSetups/lego_setup_am2c/hardware/electronics/setup-eb2-j0_2-eln.xml b/experimentalSetups/lego_setup_am2c/hardware/electronics/setup-eb2-j0_2-eln.xml
deleted file mode 100644
index da61a8ae64..0000000000
--- a/experimentalSetups/lego_setup_am2c/hardware/electronics/setup-eb2-j0_2-eln.xml
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-
-<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="setup" build="1">
-
-    <xi:include href="./pc104.xml" />
-
-    <group name="ETH_BOARD">
-
-        <group name="ETH_BOARD_PROPERTIES">
-            <param name="IpAddress">                10.0.1.1                </param>
-            <param name="IpPort">                   12345                   </param>
-            <param name="Type">                     amc                    </param>
-            <param name="maxSizeRXpacket">          768                     </param>
-            <param name="maxSizeROP">               384                     </param>
-        </group>
-
-        <group name="ETH_BOARD_SETTINGS">
-            <param name="Name">                     "setup-eb2-j0_2"        </param>
-            <group name="RUNNINGMODE">
-                <param name="period">                   1000                </param>
-                <param name="maxTimeOfRXactivity">      400                 </param>
-                <param name="maxTimeOfDOactivity">      300                 </param>
-                <param name="maxTimeOfTXactivity">      300                 </param>
-                <param name="TXrateOfRegularROPs">      5                   </param>
-            </group>
-        </group>
-
-        <group name="ETH_BOARD_ACTIONS">
-            <group name="MONITOR_ITS_PRESENCE">
-                <param name="enabled">                  true                </param>
-                <param name="timeout">                  0.020               </param>
-                <param name="periodOfMissingReport">    60.0                </param>
-            </group>
-        </group>
-
-    </group>
-
-</params>
-
diff --git a/experimentalSetups/lego_setup_am2c/hardware/mechanicals/setup-eb2-j0_2-mec.xml b/experimentalSetups/lego_setup_am2c/hardware/mechanicals/setup-eb2-j0_2-mec.xml
deleted file mode 100644
index b6b165ec07..0000000000
--- a/experimentalSetups/lego_setup_am2c/hardware/mechanicals/setup-eb2-j0_2-mec.xml
+++ /dev/null
@@ -1,73 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-
-<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="setup" build="1">
-    <group name="GENERAL">
-        <param name="MotioncontrolVersion"> 6 </param>
-        <param name="Joints"> 1 </param>
-        <param name="AxisMap">               0          </param>
-        <param name="AxisName">         "setup_yaw"     </param>
-        <param name="AxisType">         "revolute"      </param>
-        <param name="Encoder">          182.044         </param>
-        <param name="fullscalePWM">     32000           </param>
-        <param name="ampsToSensor">     1000.0          </param>
-        <param name="Gearbox_M2J">     -384.44          </param>
-        <param name="Gearbox_E2J">      1.778           </param>
-        <param name="useMotorSpeedFbk"> 0               </param>
-        <param name="MotorType">        "BLL_MOOG"      </param>
-        <param name="Verbose">          0               </param>
-    </group>
-
-    <group name="LIMITS">
-        <param name="hardwareJntPosMax">     180        </param>
-        <param name="hardwareJntPosMin">     -180       </param>
-        <param name="rotorPosMin">           0          </param>
-        <param name="rotorPosMax">           0          </param>
-    </group>
-
-    <group name="AMCBLDC">
-        <param name="HasHallSensor">         1          </param>
-        <param name="HasTempSensor">         0          </param>
-        <param name="HasRotorEncoder">       0          </param>
-        <param name="HasRotorEncoderIndex">  0          </param>
-        <param name="HasSpeedEncoder">       0          </param>
-        <param name="RotorIndexOffset">      0          </param>
-        <param name="MotorPoles">            14         </param>
-   </group>
-
-    <group name="COUPLINGS">
-
-        <param name ="matrixJ2M">
-            1.0 0.0 0.0 0.0
-            0.0 1.0 0.0 0.0
-            0.0 0.0 1.0 0.0
-            0.0 0.0 0.0 1.0
-        </param>
-
-        <param name ="matrixM2J">
-            1.0 0.0 0.0 0.0
-            0.0 1.0 0.0 0.0
-            0.0 0.0 1.0 0.0
-            0.0 0.0 0.0 1.0
-        </param>
-
-        <param name ="matrixE2J">
-            1.00    0.00    0.00    0.00    0.00    0.00
-            0.00    1.00    0.00    0.00    0.00    0.00
-            0.00    0.00    1.00    0.00    0.00    0.00
-            0.00    0.00    0.00    1.00    0.00    0.00
-        </param>
-
-    </group>
-
-    <group name="JOINTSET_CFG">
-        <param name= "numberofsets"> 1 </param>
-        <group name="JOINTSET_0">
-            <param name="listofjoints">  0         </param>
-            <param name="constraint">    none      </param>
-            <param name="param1">        0         </param>
-            <param name="param2">        0         </param>
-        </group>
-    </group>
-
-</params>
\ No newline at end of file
diff --git a/experimentalSetups/lego_setup_am2c/hardware/motorControl/setup-eb2-j0_2-mc.xml b/experimentalSetups/lego_setup_am2c/hardware/motorControl/setup-eb2-j0_2-mc.xml
deleted file mode 100644
index adf938fed2..0000000000
--- a/experimentalSetups/lego_setup_am2c/hardware/motorControl/setup-eb2-j0_2-mc.xml
+++ /dev/null
@@ -1,97 +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="setup-eb2-j0_2-mc" type="embObjMotionControl">
-
-    <xi:include href="../../general.xml" />
-    <xi:include href="../../hardware/electronics/setup-eb2-j0_2-eln.xml" />
-    <xi:include href="../../hardware/mechanicals/setup-eb2-j0_2-mec.xml" />
-    <xi:include href="./setup-eb2-j0_2-mc_service.xml" />
-
-    <!-- joint number                           0                   -->
-    <!-- joint name -->
-    <group name="LIMITS">
-        <param name="jntPosMax">                180                 </param>
-        <param name="jntPosMin">                -180                 </param>
-        <param name="jntVelMax">                90                 </param>
-        <param name="motorNominalCurrents">     1000               </param>
-        <param name="motorPeakCurrents">        1500               </param>
-        <param name="motorOverloadCurrents">    2000               </param>
-        <param name="motorPwmLimit">            16000              </param>
-    </group>
-
-    <group name="TIMEOUTS">
-        <param name="velocity">                 100                </param>
-    </group>
-
-    <group name="IMPEDANCE">
-        <param name="stiffness">                0                  </param>
-        <param name="damping">                  0                  </param>
-    </group>
-
-    <group name="CONTROLS">
-        <param name="positionControl">          POS_PID_DEFAULT     </param>
-        <param name="velocityControl">          POS_PID_DEFAULT     </param>
-        <param name="mixedControl">             POS_PID_DEFAULT     </param>
-        <param name="torqueControl">            none                </param>
-        <param name="currentPid">               2FOC_CUR_CONTROL    </param>
-        <param name="speedPid">                 2FOC_VEL_CONTROL    </param>
-    </group>
-
-
-    <!-- default position PID: begin -->
-
-    <group name="POS_PID_DEFAULT">
-        <param name="controlLaw">             minjerk                </param>
-        <param name="outputType">             current                </param>
-        <param name="fbkControlUnits">        metric_units           </param>
-        <param name="outputControlUnits">     machine_units          </param>
-        <param name="kp">                    -30                     </param>
-        <param name="kd">                    -10                     </param>
-        <param name="ki">                    -100                    </param>
-        <param name="maxOutput">              500                    </param>
-        <param name="maxInt">                 200                    </param>
-        <param name="stictionUp">             0                      </param>
-        <param name="stictionDown">           0                      </param>
-        <param name="kff">                    0                      </param>
-    </group>
-
-    <!-- default position PID: end -->
-
-
-    <!-- other default PIDs: begin -->
-
-    <group name="2FOC_CUR_CONTROL">
-        <param name="controlLaw">           low_lev_current          </param>
-        <param name="fbkControlUnits">      machine_units            </param>
-        <param name="outputControlUnits">   machine_units            </param>
-        <param name="kp">                   2                        </param>
-        <param name="kd">                   0                        </param>
-        <param name="ki">                   500                      </param>
-        <param name="shift">                0                        </param>
-        <param name="maxOutput">            32000                    </param>
-        <param name="maxInt">               32000                    </param>
-        <param name="kff">                  0                        </param>
-    </group>
-
-    <group name="2FOC_VEL_CONTROL">
-        <param name="controlLaw">           low_lev_speed            </param>
-        <param name="fbkControlUnits">      machine_units            </param>
-        <param name="outputControlUnits">   machine_units            </param>
-        <param name="kff">                  0                        </param>
-        <param name="kp">                   12                       </param>
-        <param name="kd">                   0                        </param>
-        <param name="ki">                   16                       </param>
-        <param name="shift">                10                       </param>
-        <param name="maxOutput">            32000                    </param>
-        <param name="maxInt">               32000                    </param>
-    </group>
-
-    <!-- other default PIDs: end -->
-
-    <!-- custom PIDs: begin -->
-
-    <!-- custom PIDs: end -->
-
-</device>
\ No newline at end of file
diff --git a/experimentalSetups/lego_setup_am2c/hardware/motorControl/setup-eb2-j0_2-mc_service.xml b/experimentalSetups/lego_setup_am2c/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
deleted file mode 100644
index bb6137662b..0000000000
--- a/experimentalSetups/lego_setup_am2c/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
+++ /dev/null
@@ -1,58 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-
-<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="setup" build="1">
-
-    <group name="SERVICE">
-
-        <param name="type"> eomn_serv_MC_foc </param>
-
-        <group name="PROPERTIES">
-
-            <group name="ETHBOARD">
-                <param name="type">                 amc        </param>
-            </group>
-
-            <group name="CANBOARDS">
-                <param name="type">                 amcbldc     </param> <!--This is AMC2C--> 
-                <group name="PROTOCOL">
-                    <param name="major">            2           </param>
-                    <param name="minor">            0           </param>
-                </group>
-                <group name="FIRMWARE">
-                    <param name="major">            2           </param>
-                    <param name="minor">            0           </param>
-                    <param name="build">            4           </param>
-                </group>
-            </group>
-
-            <group name="JOINTMAPPING">
-
-                <group name="ACTUATOR">
-                    <param name="type">             eomc_act_foc      </param>
-                    <param name="port">             CAN1:3            </param>
-                </group>
-
-                <group name="ENCODER1">
-                    <param name="type">             eomc_enc_aea      </param>
-                    <param name="port">             CONN:J5_X1        </param>
-                    <param name="position">         eomc_pos_atjoint  </param>
-                    <param name="resolution">       4096              </param>
-                    <param name="tolerance">        0.4               </param>
-                </group>
-
-                <group name="ENCODER2">
-                    <param name="type">             none              </param>
-                    <param name="port">             CAN2:3:0          </param>
-                    <param name="position">         atmotor           </param>
-                    <param name="resolution">        0                </param>
-                    <param name="tolerance">         0                </param>
-                </group>
-
-            </group>
-
-        </group>
-
-    </group>
-
-</params>
diff --git a/experimentalSetups/lego_setup_am2c/lego_setup_amc2c.xml b/experimentalSetups/lego_setup_am2c/lego_setup_amc2c.xml
deleted file mode 100644
index b607c76fa8..0000000000
--- a/experimentalSetups/lego_setup_am2c/lego_setup_amc2c.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-
-    <robot name="setup" build="1" portprefix="/lego" xmlns:xi="http://www.w3.org/2001/XInclude">
-        <params>
-            <xi:include href="hardware/electronics/pc104.xml" />
-        </params>
-
-        <devices>
-    
-            <!-- LEGO SETUP MC -->
-            <xi:include href="hardware/motorControl/setup-eb2-j0_2-mc.xml" />
-            <xi:include href="wrappers/motorControl/setup-mc_wrapper.xml"  />
-            <xi:include href="wrappers/motorControl/setup-mc_remapper.xml" />
-    
-            <!--  CALIBRATORS -->
-            <xi:include href="calibrators/setup-calib.xml" />
-        
-    </devices>
-</robot>
\ No newline at end of file
diff --git a/experimentalSetups/lego_setup_am2c/wrappers/motorControl/setup-mc_remapper.xml b/experimentalSetups/lego_setup_am2c/wrappers/motorControl/setup-mc_remapper.xml
deleted file mode 100644
index a6aa2210a9..0000000000
--- a/experimentalSetups/lego_setup_am2c/wrappers/motorControl/setup-mc_remapper.xml
+++ /dev/null
@@ -1,15 +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="setup-mc_remapper" type="controlboardremapper">
-    <paramlist name="networks">
-        <elem name="FirstSetOfJoints">  0  0  0  0 </elem>
-    </paramlist>
-    <param name="joints"> 1 </param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="FirstSetOfJoints">  setup-eb2-j0_2-mc    </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="20" type="detach" />
-</device>
\ No newline at end of file
diff --git a/experimentalSetups/lego_setup_am2c/wrappers/motorControl/setup-mc_wrapper.xml b/experimentalSetups/lego_setup_am2c/wrappers/motorControl/setup-mc_wrapper.xml
deleted file mode 100644
index bf230b9977..0000000000
--- a/experimentalSetups/lego_setup_am2c/wrappers/motorControl/setup-mc_wrapper.xml
+++ /dev/null
@@ -1,12 +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="setup-mc_wrapper" type="controlBoard_nws_yarp">
-    <param name="period"> 0.01  </param>
-        <param name="name"> /lego/setup_mc </param>
-        <action phase="startup" level="10" type="attach">
-            <param name="device"> setup-mc_remapper </param>
-        </action>
-        <action phase="shutdown" level="15" type="detach" />
-    </device>
diff --git a/experimentalSetups/lego_setup_am2c/yarpmotorgui.ini b/experimentalSetups/lego_setup_am2c/yarpmotorgui.ini
deleted file mode 100644
index 4afcfd6c30..0000000000
--- a/experimentalSetups/lego_setup_am2c/yarpmotorgui.ini
+++ /dev/null
@@ -1,3 +0,0 @@
-robot lego
-
-parts (setup_mc)
\ No newline at end of file
diff --git a/experimentalSetups/lego_setup_am2c/yarprobotinterface.ini b/experimentalSetups/lego_setup_am2c/yarprobotinterface.ini
deleted file mode 100644
index 9692150329..0000000000
--- a/experimentalSetups/lego_setup_am2c/yarprobotinterface.ini
+++ /dev/null
@@ -1,2 +0,0 @@
-config ./lego_setup_amc2c.xml
-