diff --git a/urdf/simmechanics/data/ergocub/ERGOCUB_all_options.yaml b/urdf/simmechanics/data/ergocub/ERGOCUB_all_options.yaml
index d09868fc..d2377e3e 100644
--- a/urdf/simmechanics/data/ergocub/ERGOCUB_all_options.yaml
+++ b/urdf/simmechanics/data/ergocub/ERGOCUB_all_options.yaml
@@ -723,15 +723,15 @@ forceTorqueSensors:
             <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_arm_ft.ini</yarpConfigurationFile>
           </plugin>
     # left leg
-    # - jointName: l_leg_ft_sensor
-    #   directionChildToParent: Yes
-    #   frame: sensor
-    #   frameName: SCSYS_L_HIP_2_FT
-    #   sensorBlobs:
-    #   - |
-    #       <plugin name="left_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
-    #         <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini</yarpConfigurationFile>
-    #       </plugin>
+     - jointName: l_leg_ft_sensor
+       directionChildToParent: Yes
+       frame: sensor
+       frameName: SCSYS_L_HIP_2_FT
+       sensorBlobs:
+       - |
+           <plugin name="left_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
+             <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_leg_ft.ini</yarpConfigurationFile>
+           </plugin>
     - jointName: l_foot_front_ft_sensor
       directionChildToParent: No
       frame: sensor
@@ -751,15 +751,15 @@ forceTorqueSensors:
             <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_left_foot_rear_ft.ini</yarpConfigurationFile>
           </plugin>
     # right leg
-    # - jointName: r_leg_ft_sensor
-    #   directionChildToParent: Yes
-    #   frame: sensor
-    #   frameName: SCSYS_R_HIP_2_FT
-    #   sensorBlobs:
-    #   - |
-    #       <plugin name="right_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
-    #         <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini</yarpConfigurationFile>
-    #       </plugin>
+     - jointName: r_leg_ft_sensor
+       directionChildToParent: Yes
+       frame: sensor
+       frameName: SCSYS_R_HIP_2_FT
+       sensorBlobs:
+       - |
+           <plugin name="right_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
+             <yarpConfigurationFile>model://ergoCub/conf/FT/gazebo_ergocub_right_leg_ft.ini</yarpConfigurationFile>
+           </plugin>
     - jointName: r_foot_front_ft_sensor
       directionChildToParent: No
       frame: sensor