diff --git a/ergoCubSN000/ergocub.xml b/ergoCubSN000/ergocub.xml
new file mode 100644
index 0000000000..cfaa67b401
--- /dev/null
+++ b/ergoCubSN000/ergocub.xml
@@ -0,0 +1,152 @@
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diff --git a/ergoCubSN000/yarprobotinterface.ini b/ergoCubSN000/yarprobotinterface.ini
index 79751db316..729d8ba250 100644
--- a/ergoCubSN000/yarprobotinterface.ini
+++ b/ergoCubSN000/yarprobotinterface.ini
@@ -1,2 +1,2 @@
-config ./ergocub_all.xml
+config ./ergocub.xml
diff --git a/ergoCubSN001/ergocub.xml b/ergoCubSN001/ergocub.xml
new file mode 100644
index 0000000000..925786ec6e
--- /dev/null
+++ b/ergoCubSN001/ergocub.xml
@@ -0,0 +1,152 @@
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diff --git a/ergoCubSN001/yarprobotinterface.ini b/ergoCubSN001/yarprobotinterface.ini
index 79751db316..729d8ba250 100644
--- a/ergoCubSN001/yarprobotinterface.ini
+++ b/ergoCubSN001/yarprobotinterface.ini
@@ -1,2 +1,2 @@
-config ./ergocub_all.xml
+config ./ergocub.xml
diff --git a/ergoCubSN002/ergocub.xml b/ergoCubSN002/ergocub.xml
new file mode 100644
index 0000000000..7d5b085673
--- /dev/null
+++ b/ergoCubSN002/ergocub.xml
@@ -0,0 +1,152 @@
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diff --git a/ergoCubSN002/yarprobotinterface.ini b/ergoCubSN002/yarprobotinterface.ini
index 79751db316..729d8ba250 100644
--- a/ergoCubSN002/yarprobotinterface.ini
+++ b/ergoCubSN002/yarprobotinterface.ini
@@ -1,2 +1,2 @@
-config ./ergocub_all.xml
+config ./ergocub.xml