diff --git a/iCub/conf/gazebo_icub_torso.ini b/iCub/conf/gazebo_icub_torso.ini
index d351ffb..a734fd3 100644
--- a/iCub/conf/gazebo_icub_torso.ini
+++ b/iCub/conf/gazebo_icub_torso.ini
@@ -15,8 +15,8 @@ max_damping   100.0  100.0  100.0
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
-kp            1.745 1.745 1.745
-kd            0.174 0.174 0.174
+kp            1.745 20.0 20.0
+kd            1.0   0.174 0.174
 ki            0.174 0.174 0.174
 maxInt        9999  9999  9999
 maxOutput     9999  9999  9999
diff --git a/iCub/conf/wrappers/FT/left_leg-FT_remapper.xml b/iCub/conf/wrappers/FT/left_leg-FT_remapper.xml
index 07afbe3..c344a9e 100644
--- a/iCub/conf/wrappers/FT/left_leg-FT_remapper.xml
+++ b/iCub/conf/wrappers/FT/left_leg-FT_remapper.xml
@@ -4,10 +4,7 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_remapper" type="multipleanalogsensorsremapper">
         <param name="SixAxisForceTorqueSensorsNames">
-          (l_leg_ft_sensor l_foot_ft_sensor)
-        </param>
-        <param name="TemperatureSensorsNames">
-          (l_leg_ft_sensor l_foot_ft_sensor)
+          (l_leg_ft l_foot_ft)
         </param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
diff --git a/iCub/conf/wrappers/FT/right_leg-FT_remapper.xml b/iCub/conf/wrappers/FT/right_leg-FT_remapper.xml
index e628419..cfcec34 100644
--- a/iCub/conf/wrappers/FT/right_leg-FT_remapper.xml
+++ b/iCub/conf/wrappers/FT/right_leg-FT_remapper.xml
@@ -4,10 +4,7 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_remapper" type="multipleanalogsensorsremapper">
         <param name="SixAxisForceTorqueSensorsNames">
-          (r_leg_ft_sensor r_foot_ft_sensor)
-        </param>
-        <param name="TemperatureSensorsNames">
-          (r_leg_ft_sensor r_foot_ft_sensor)
+          (r_leg_ft r_foot_ft)
         </param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
diff --git a/iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml b/iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml
index 998e6e4..73bc0fe 100644
--- a/iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml
+++ b/iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml
@@ -4,10 +4,7 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_remapper" type="multipleanalogsensorsremapper">
         <param name="SixAxisForceTorqueSensorsNames">
-          (l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor)
-        </param>
-        <param name="TemperatureSensorsNames">
-          (l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor)
+          (l_leg_ft l_foot_rear_ft l_foot_front_ft)
         </param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
diff --git a/iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml b/iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml
index 4a69763..b60df29 100644
--- a/iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml
+++ b/iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml
@@ -4,10 +4,7 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_remapper" type="multipleanalogsensorsremapper">
         <param name="SixAxisForceTorqueSensorsNames">
-          (r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor)
-        </param>
-        <param name="TemperatureSensorsNames">
-          (r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor)
+          (r_leg_ft r_foot_rear_ft r_foot_front_ft)
         </param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">