diff --git a/ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml
index f99072fbe2..0c5bb9ceac 100644
--- a/ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
     <param name="period">      10                           </param>
-    <param name="name"> /${portprefix}/alljoints/inertials   </param>
+    <param name="name"> /ergocub/alljoints/inertials   </param>
 
     <action phase="startup" level="10" type="attach">
         <paramlist name="networks">
diff --git a/ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml b/ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml
index f99072fbe2..0c5bb9ceac 100644
--- a/ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
     <param name="period">      10                           </param>
-    <param name="name"> /${portprefix}/alljoints/inertials   </param>
+    <param name="name"> /ergocub/alljoints/inertials   </param>
 
     <action phase="startup" level="10" type="attach">
         <paramlist name="networks">
diff --git a/ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml b/ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml
index f99072fbe2..0c5bb9ceac 100644
--- a/ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
     <param name="period">      10                           </param>
-    <param name="name"> /${portprefix}/alljoints/inertials   </param>
+    <param name="name"> /ergocub/alljoints/inertials   </param>
 
     <action phase="startup" level="10" type="attach">
         <paramlist name="networks">
diff --git a/iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml
index f99072fbe2..c8284668d2 100644
--- a/iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
     <param name="period">      10                           </param>
-    <param name="name"> /${portprefix}/alljoints/inertials   </param>
+    <param name="name"> /icub/alljoints/inertials   </param>
 
     <action phase="startup" level="10" type="attach">
         <paramlist name="networks">
diff --git a/iCubGenova11/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubGenova11/wrappers/inertials/alljoints-inertials_wrapper.xml
index f99072fbe2..c8284668d2 100644
--- a/iCubGenova11/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubGenova11/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
     <param name="period">      10                           </param>
-    <param name="name"> /${portprefix}/alljoints/inertials   </param>
+    <param name="name"> /icub/alljoints/inertials   </param>
 
     <action phase="startup" level="10" type="attach">
         <paramlist name="networks">
diff --git a/iCubLisboa01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubLisboa01/wrappers/inertials/alljoints-inertials_wrapper.xml
index f99072fbe2..c8284668d2 100644
--- a/iCubLisboa01/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubLisboa01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
     <param name="period">      10                           </param>
-    <param name="name"> /${portprefix}/alljoints/inertials   </param>
+    <param name="name"> /icub/alljoints/inertials   </param>
 
     <action phase="startup" level="10" type="attach">
         <paramlist name="networks">
diff --git a/iCubPrague01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubPrague01/wrappers/inertials/alljoints-inertials_wrapper.xml
index f99072fbe2..c8284668d2 100644
--- a/iCubPrague01/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubPrague01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
     <param name="period">      10                           </param>
-    <param name="name"> /${portprefix}/alljoints/inertials   </param>
+    <param name="name"> /icub/alljoints/inertials   </param>
 
     <action phase="startup" level="10" type="attach">
         <paramlist name="networks">
diff --git a/iCubShanghai01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubShanghai01/wrappers/inertials/alljoints-inertials_wrapper.xml
index f99072fbe2..c8284668d2 100644
--- a/iCubShanghai01/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubShanghai01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
     <param name="period">      10                           </param>
-    <param name="name"> /${portprefix}/alljoints/inertials   </param>
+    <param name="name"> /icub/alljoints/inertials   </param>
 
     <action phase="startup" level="10" type="attach">
         <paramlist name="networks">
diff --git a/iCubShenzhen01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubShenzhen01/wrappers/inertials/alljoints-inertials_wrapper.xml
index f99072fbe2..c8284668d2 100644
--- a/iCubShenzhen01/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubShenzhen01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
     <param name="period">      10                           </param>
-    <param name="name"> /${portprefix}/alljoints/inertials   </param>
+    <param name="name"> /icub/alljoints/inertials   </param>
 
     <action phase="startup" level="10" type="attach">
         <paramlist name="networks">
diff --git a/iCubValparaiso01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubValparaiso01/wrappers/inertials/alljoints-inertials_wrapper.xml
index f99072fbe2..c8284668d2 100644
--- a/iCubValparaiso01/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubValparaiso01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
     <param name="period">      10                           </param>
-    <param name="name"> /${portprefix}/alljoints/inertials   </param>
+    <param name="name"> /icub/alljoints/inertials   </param>
 
     <action phase="startup" level="10" type="attach">
         <paramlist name="networks">
diff --git a/iCubWaterloo01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubWaterloo01/wrappers/inertials/alljoints-inertials_wrapper.xml
index f99072fbe2..c8284668d2 100644
--- a/iCubWaterloo01/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubWaterloo01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
     <param name="period">      10                           </param>
-    <param name="name"> /${portprefix}/alljoints/inertials   </param>
+    <param name="name"> /icub/alljoints/inertials   </param>
 
     <action phase="startup" level="10" type="attach">
         <paramlist name="networks">
diff --git a/iCubZagreb01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubZagreb01/wrappers/inertials/alljoints-inertials_wrapper.xml
index f99072fbe2..c8284668d2 100644
--- a/iCubZagreb01/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubZagreb01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
     <param name="period">      10                           </param>
-    <param name="name"> /${portprefix}/alljoints/inertials   </param>
+    <param name="name"> /icub/alljoints/inertials   </param>
 
     <action phase="startup" level="10" type="attach">
         <paramlist name="networks">