From f89cd27d56c1c38212ad3ca16359c8d283be067e Mon Sep 17 00:00:00 2001
From: Nicogene <nicolo.genesio@iit.it>
Date: Fri, 19 May 2023 11:30:10 +0200
Subject: [PATCH] Replace embObjStrain w/ embObjFTSensor

Now embObjFTSensor can handle also strain board, see https://github.com/robotology/icub-main/pull/874
---
 .../FT/cer_left_shoulder-ems5-strain.xml      |  2 +-
 .../FT/cer_right_shoulder-ems4-strain.xml     |  2 +-
 .../FT/cer_left_shoulder-ems5-strain.xml      |  2 +-
 .../FT/cer_right_shoulder-ems4-strain.xml     |  2 +-
 .../FT/cer_left_shoulder-ems5-strain.xml      |  2 +-
 .../FT/cer_right_shoulder-ems4-strain.xml     |  2 +-
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb6-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb7-j4_5-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb8-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb9-j4_5-strain.xml |  2 +-
 .../analogsensors.inertials.readme.xml        | 64 +++++++--------
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb6-j0_1-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb8-j4_5-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../FT/right_leg-eb10-j0_1-strain.xml         |  2 +-
 .../FT/right_leg-eb12-j4_5-strain.xml         |  2 +-
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb6-j0_1-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb8-j4_5-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../FT/right_leg-eb10-j0_1-strain.xml         |  2 +-
 .../FT/right_leg-eb12-j4_5-strain.xml         |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb6-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb7-j4_5-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb8-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb9-j4_5-strain.xml |  2 +-
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb6-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb7-j4_5-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb8-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb9-j4_5-strain.xml |  2 +-
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb6-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb7-j4_5-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb8-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb9-j4_5-strain.xml |  2 +-
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb6-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb7-j4_5-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb8-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb9-j4_5-strain.xml |  2 +-
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../analogsensors.inertials.readme.xml        | 64 +++++++--------
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb6-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb7-j4_5-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb8-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb9-j4_5-strain.xml |  2 +-
 .../hardware/FT/left_leg-eb6-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb7-j4_5-strain.xml  |  2 +-
 .../hardware/FT/right_leg-eb8-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb9-j4_5-strain.xml |  2 +-
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb6-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb7-j4_5-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb8-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb9-j4_5-strain.xml |  2 +-
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb6-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb7-j4_5-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb8-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb9-j4_5-strain.xml |  2 +-
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb6-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb7-j4_5-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb8-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb9-j4_5-strain.xml |  2 +-
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb6-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb7-j4_5-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb8-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb9-j4_5-strain.xml |  2 +-
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb6-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb7-j4_5-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb8-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb9-j4_5-strain.xml |  2 +-
 .../hardware/FT/body_part-ebX-strain.xml      | 82 +++++++++----------
 .../hardware/FT/body_part-ebX-strain.xml      | 82 +++++++++----------
 .../hardware/FT/body_part-ebX-strain.xml      | 82 +++++++++----------
 .../hardware/FT/body_part-ebX-strain.xml      | 82 +++++++++----------
 .../hardware/FT/left_arm-eb1-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb6-j0_3-strain.xml  |  2 +-
 .../hardware/FT/left_leg-eb7-j4_5-strain.xml  |  2 +-
 .../hardware/FT/right_arm-eb3-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb8-j0_3-strain.xml |  2 +-
 .../hardware/FT/right_leg-eb9-j4_5-strain.xml |  2 +-
 107 files changed, 329 insertions(+), 329 deletions(-)

diff --git a/R1SN001/hardware/FT/cer_left_shoulder-ems5-strain.xml b/R1SN001/hardware/FT/cer_left_shoulder-ems5-strain.xml
index be3d8fa218..06fdadcf80 100644
--- a/R1SN001/hardware/FT/cer_left_shoulder-ems5-strain.xml
+++ b/R1SN001/hardware/FT/cer_left_shoulder-ems5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_left_arm-eb5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_left_arm-eb5-strain" type="embObjFTsensor">
 
       <xi:include href="../../general.xml" />
       <xi:include href="../electronics/cer_left_shoulder-ems5-eln.xml" />
diff --git a/R1SN001/hardware/FT/cer_right_shoulder-ems4-strain.xml b/R1SN001/hardware/FT/cer_right_shoulder-ems4-strain.xml
index fe1d39957a..6085dffcbc 100644
--- a/R1SN001/hardware/FT/cer_right_shoulder-ems4-strain.xml
+++ b/R1SN001/hardware/FT/cer_right_shoulder-ems4-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_right_arm-eb4-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_right_arm-eb4-strain" type="embObjFTsensor">
 
       <xi:include href="../../general.xml" />
       <xi:include href="../electronics/cer_right_shoulder-ems4-eln.xml" />
diff --git a/R1SN002/hardware/FT/cer_left_shoulder-ems5-strain.xml b/R1SN002/hardware/FT/cer_left_shoulder-ems5-strain.xml
index be3d8fa218..06fdadcf80 100644
--- a/R1SN002/hardware/FT/cer_left_shoulder-ems5-strain.xml
+++ b/R1SN002/hardware/FT/cer_left_shoulder-ems5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_left_arm-eb5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_left_arm-eb5-strain" type="embObjFTsensor">
 
       <xi:include href="../../general.xml" />
       <xi:include href="../electronics/cer_left_shoulder-ems5-eln.xml" />
diff --git a/R1SN002/hardware/FT/cer_right_shoulder-ems4-strain.xml b/R1SN002/hardware/FT/cer_right_shoulder-ems4-strain.xml
index fe1d39957a..6085dffcbc 100644
--- a/R1SN002/hardware/FT/cer_right_shoulder-ems4-strain.xml
+++ b/R1SN002/hardware/FT/cer_right_shoulder-ems4-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_right_arm-eb4-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_right_arm-eb4-strain" type="embObjFTsensor">
 
       <xi:include href="../../general.xml" />
       <xi:include href="../electronics/cer_right_shoulder-ems4-eln.xml" />
diff --git a/R1SN003/hardware/FT/cer_left_shoulder-ems5-strain.xml b/R1SN003/hardware/FT/cer_left_shoulder-ems5-strain.xml
index be3d8fa218..06fdadcf80 100644
--- a/R1SN003/hardware/FT/cer_left_shoulder-ems5-strain.xml
+++ b/R1SN003/hardware/FT/cer_left_shoulder-ems5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_left_arm-eb5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_left_arm-eb5-strain" type="embObjFTsensor">
 
       <xi:include href="../../general.xml" />
       <xi:include href="../electronics/cer_left_shoulder-ems5-eln.xml" />
diff --git a/R1SN003/hardware/FT/cer_right_shoulder-ems4-strain.xml b/R1SN003/hardware/FT/cer_right_shoulder-ems4-strain.xml
index fe1d39957a..6085dffcbc 100644
--- a/R1SN003/hardware/FT/cer_right_shoulder-ems4-strain.xml
+++ b/R1SN003/hardware/FT/cer_right_shoulder-ems4-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_right_arm-eb4-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_right_arm-eb4-strain" type="embObjFTsensor">
 
       <xi:include href="../../general.xml" />
       <xi:include href="../electronics/cer_right_shoulder-ems4-eln.xml" />
diff --git a/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/left_arm-eb1-j0_3-strain.xml b/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/left_leg-eb6-j0_3-strain.xml b/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/left_leg-eb6-j0_3-strain.xml
index 640f6bef1e..d626154560 100644
--- a/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/left_leg-eb6-j0_3-strain.xml
+++ b/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/left_leg-eb6-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/left_leg-eb7-j4_5-strain.xml b/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/left_leg-eb7-j4_5-strain.xml
index fcee3fb768..8874ca2660 100644
--- a/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/left_leg-eb7-j4_5-strain.xml
+++ b/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/left_leg-eb7-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/right_arm-eb3-j0_3-strain.xml b/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/right_leg-eb8-j0_3-strain.xml b/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/right_leg-eb8-j0_3-strain.xml
index 625a9e6a8c..347779199a 100644
--- a/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/right_leg-eb8-j0_3-strain.xml
+++ b/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/right_leg-eb8-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/right_leg-eb9-j4_5-strain.xml b/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/right_leg-eb9-j4_5-strain.xml
index 055d959a99..40f829cdf9 100644
--- a/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/right_leg-eb9-j4_5-strain.xml
+++ b/experimentalSetups/iCubGenova02-VelCtrl/hardware/FT/right_leg-eb9-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenova02-VelCtrl/hardware/analogsensors.inertials.readme.xml b/experimentalSetups/iCubGenova02-VelCtrl/hardware/analogsensors.inertials.readme.xml
index 0219e360d6..13900c88bc 100644
--- a/experimentalSetups/iCubGenova02-VelCtrl/hardware/analogsensors.inertials.readme.xml
+++ b/experimentalSetups/iCubGenova02-VelCtrl/hardware/analogsensors.inertials.readme.xml
@@ -2,87 +2,87 @@
 
 <!--
     marco.accame: on 31 mar 2016
-    
+
     on 24 mar 2016 i had a chat with silvio.traversaro and other users of the inertial analog sensors and we defined a desired behaviour for the device.
-    
-    the discussion originated the xml file for embObjInertials but also those (much simpler) for embObjMais and embObjStrain.
-    
-    
+
+    the discussion originated the xml file for embObjInertials but also those (much simpler) for embObjMais and embObjFTsensor.
+
+
     the configuration should be general enough to allow future extensions and at the same time easy enough for managing code in three environment:
     1. the C++ code inside the device embObjInertials.cpp ... parsing xml, build relevant data structures, publishing data in streaming, in rpc etc.
     2. the code of those using the published data ... reading xyz plus timestamp, to be able to associate them to a given sensor ID which can be directly linked to the CAD.
-    3. the C code in the ETH board ... we need compact messaging from icub-main to the board, such as a list of can sensors, a list of sensors directly managed by the board 
+    3. the C code in the ETH board ... we need compact messaging from icub-main to the board, such as a list of can sensors, a list of sensors directly managed by the board
        plus their properties, etc ...
-       
-       
+
+
     the description of the resulting tags is in file legenda.xml, which should be read alongside this document.
-    
-    
-    disclaimer: this is a "direction" not yet a decision. as such, it is subject to requests of changes before start of implementation 
+
+
+    disclaimer: this is a "direction" not yet a decision. as such, it is subject to requests of changes before start of implementation
     and to modifications during the implementation required to make things easier.
 
   -->
-  
+
 <!--
     VARIOUS NOTES:
-    
+
     (01)    the place of this xml file could be in ... i would say: iCubGenova02/hardware/inertials
-    
+
     (02)    the device is called embObjInertials and manages N xyz sensors all associated to a given ETH board. The name of device can be changed.
-    
+
     (04)    The idea is that the device publishes data related to the N sensors in three formats:
 
-            a. a vector of N string identifiers for the sensor (id) which are unique in the robot and allow to associate the sensor to the CAD. 
+            a. a vector of N string identifiers for the sensor (id) which are unique in the robot and allow to associate the sensor to the CAD.
                the size of the vector gives also the number of sensors.
             b. a vector of N timestamps (t), where the timestamp is expressed in micro-sec and is related to the acquisition time of the ETH board of a given triple (x, y, z).
-            c. a vector of N floating point triples (x, y, z), where a triple contains measures from an inertial sensor. the sensor can be an accel or gyros or 
+            c. a vector of N floating point triples (x, y, z), where a triple contains measures from an inertial sensor. the sensor can be an accel or gyros or
                whatever other 3-axis sensor one may want to use.
 
             Data in vector<(id)> are invariant for the lifetime of the wrapper, thus can be read by rcp only once.
-            
+
             Data in vector<(x, y, z)> and vector<(t)> are time-variant and are streamed with the period of the wrapper. Silvio said something about data and metadata
             and also that (x, y, z) are data and (t) can be expressed as metadata.
             Data that is published is guaranteed to be the most recent. however, dat is refreshed with a rate assigned to the sensor which can be different from that
             of the wrapper. For instance, teh period of the wrapper is typically 10 ms, but in SETTINGS/acquisitionRate we may use 50 ms, which is the rate at which each MTB CAN board
-            sends its readings.            
-            
-    (05)    We need to put careful attention to make (x, y, z) consistent with (t). 
-            
+            sends its readings.
+
+    (05)    We need to put careful attention to make (x, y, z) consistent with (t).
+
             The device receives (x, y, z) and (t) one at a time at reception of a UDP packet, hence the vectors are refreshed by function embObjInertials::update() in a given
             position pos. The device publishes the vectors with a different function embObjInertials::read() which is called asynchronously with respect to embObjInertials::update().
             In order to maintain consistency, we must use one mutex which gives mutual exclusion to update() and read().
             Moreover, the function read() must have two arguments and be embObjInertials::read(vector<t>& v1, vector<xyz>& v2), where vector v1 will be put in metadata, vector v2 in data.
-                                    
+
  -->
- 
+
 <!-- INSTRUCTIONS
 
     the format of the xml file is common with mais and strain, hence we can use a single object which parses the file and gives back to the device all relevant information.
-    
+
     about the used syntax.
     it is designed so that the groups are all in CAPITAL_LETTERS and the params are expressed in camelCaseNotation.
     if we need a boolean we use true/false, if we need a number we use it, if we need to chose amongst a limited number of possibilities we use an enumVariableInCamelCase notation.
     the strings are left free and are written without the "".
-    
+
     the parsing and the start of INERTIALS service is done as follows:
     we read SETTINGS.enabledSensors as a vector<string> IDs of size N. we use these strings for publishing in yarp port as described by (04).a
-    then we build what is needed by the ETH board to init the sensors. 
+    then we build what is needed by the ETH board to init the sensors.
     for each id in vector<string> IDs, we get its (type, location) by searching inside PROPERTIES.SENSORS and we fill what is sent to the ETH board to verify and activate
     its service. Then, it is built the vector of (x, y, z) and of (t) and it is asked to the ETH board to start tx of sensors with SETTINGS.acquisitionRate
     there are some checks to be done: what in SETTINGS.enabledSensors must be also in PROPERTIES.SENSORS, so fare we cannot manage sensors which are local to the ET board.
     with this syntax if for instance jorhabib wants to use a new gyro on the foot which is external what is required to do is:
     - add a new column in PROPERTIES.SENSORS with (id = l_foot_2_10B13_extgyro, type = enumSnsrGyrMTBext, location = CAN2-12).
     - add a new entry SETTINGS.enabledSensors with l_foot_2_10B13_extgyro.
-    
+
     the parsing and the start of STRAIN service is done as follows:
     we read SETTINGS.enabledSensors as a vector<string> IDs of size N. N will be 1! we DONT publish these strings for publishing in yarp port as described by (04).a
-    then we build what is needed by the ETH board to init the sensor. 
+    then we build what is needed by the ETH board to init the sensor.
     for each id in vector<string> IDs, we get its (type = enumSnsrSTRAIN, location) by searching inside PROPERTIES.SENSORS and we fill what is sent to the ETH board to verify and activate
     its service. Then, it is built the vector of (a1, a2, a3, a4, a5, a6) which is published in the YARP port.
     we ask the fullscales if STRAIN_SETTINGS.useCalibration is true and then we ask to the ETH board to start tx of sensors with SETTINGS.acquisitionRate.
-    
+
     For the MAIS service it is as with STRAIN but without request of fullscales.
-    
-    
+
+
   -->
 
diff --git a/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/left_arm-eb1-j0_3-strain.xml b/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/left_leg-eb6-j0_1-strain.xml b/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/left_leg-eb6-j0_1-strain.xml
index 515395f18e..2c2e6f58e1 100644
--- a/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/left_leg-eb6-j0_1-strain.xml
+++ b/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/left_leg-eb6-j0_1-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_1-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_1-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/left_leg-eb8-j4_5-strain.xml b/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/left_leg-eb8-j4_5-strain.xml
index 75e2bfcb78..bcdff269da 100644
--- a/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/left_leg-eb8-j4_5-strain.xml
+++ b/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/left_leg-eb8-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb8-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb8-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/right_arm-eb3-j0_3-strain.xml b/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/right_leg-eb10-j0_1-strain.xml b/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/right_leg-eb10-j0_1-strain.xml
index bef3833134..18161ea30a 100644
--- a/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/right_leg-eb10-j0_1-strain.xml
+++ b/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/right_leg-eb10-j0_1-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb10-j0_1-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb10-j0_1-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/right_leg-eb12-j4_5-strain.xml b/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/right_leg-eb12-j4_5-strain.xml
index 382de873f8..e3b6870e0e 100644
--- a/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/right_leg-eb12-j4_5-strain.xml
+++ b/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/FT/right_leg-eb12-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb12-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb12-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenovaV3/hardware/FT/left_arm-eb1-j0_3-strain.xml b/experimentalSetups/iCubGenovaV3/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/experimentalSetups/iCubGenovaV3/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/experimentalSetups/iCubGenovaV3/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenovaV3/hardware/FT/left_leg-eb6-j0_1-strain.xml b/experimentalSetups/iCubGenovaV3/hardware/FT/left_leg-eb6-j0_1-strain.xml
index 515395f18e..2c2e6f58e1 100644
--- a/experimentalSetups/iCubGenovaV3/hardware/FT/left_leg-eb6-j0_1-strain.xml
+++ b/experimentalSetups/iCubGenovaV3/hardware/FT/left_leg-eb6-j0_1-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_1-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_1-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenovaV3/hardware/FT/left_leg-eb8-j4_5-strain.xml b/experimentalSetups/iCubGenovaV3/hardware/FT/left_leg-eb8-j4_5-strain.xml
index 75e2bfcb78..bcdff269da 100644
--- a/experimentalSetups/iCubGenovaV3/hardware/FT/left_leg-eb8-j4_5-strain.xml
+++ b/experimentalSetups/iCubGenovaV3/hardware/FT/left_leg-eb8-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb8-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb8-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenovaV3/hardware/FT/right_arm-eb3-j0_3-strain.xml b/experimentalSetups/iCubGenovaV3/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/experimentalSetups/iCubGenovaV3/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/experimentalSetups/iCubGenovaV3/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenovaV3/hardware/FT/right_leg-eb10-j0_1-strain.xml b/experimentalSetups/iCubGenovaV3/hardware/FT/right_leg-eb10-j0_1-strain.xml
index bef3833134..18161ea30a 100644
--- a/experimentalSetups/iCubGenovaV3/hardware/FT/right_leg-eb10-j0_1-strain.xml
+++ b/experimentalSetups/iCubGenovaV3/hardware/FT/right_leg-eb10-j0_1-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb10-j0_1-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb10-j0_1-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/experimentalSetups/iCubGenovaV3/hardware/FT/right_leg-eb12-j4_5-strain.xml b/experimentalSetups/iCubGenovaV3/hardware/FT/right_leg-eb12-j4_5-strain.xml
index 382de873f8..e3b6870e0e 100644
--- a/experimentalSetups/iCubGenovaV3/hardware/FT/right_leg-eb12-j4_5-strain.xml
+++ b/experimentalSetups/iCubGenovaV3/hardware/FT/right_leg-eb12-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb12-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb12-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubChemnitz01/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubChemnitz01/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/iCubChemnitz01/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/iCubChemnitz01/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubDarmstadt01/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubDarmstadt01/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/iCubDarmstadt01/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/iCubDarmstadt01/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubDarmstadt01/hardware/FT/left_leg-eb6-j0_3-strain.xml b/iCubDarmstadt01/hardware/FT/left_leg-eb6-j0_3-strain.xml
index 640f6bef1e..d626154560 100644
--- a/iCubDarmstadt01/hardware/FT/left_leg-eb6-j0_3-strain.xml
+++ b/iCubDarmstadt01/hardware/FT/left_leg-eb6-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubDarmstadt01/hardware/FT/left_leg-eb7-j4_5-strain.xml b/iCubDarmstadt01/hardware/FT/left_leg-eb7-j4_5-strain.xml
index 2666cf8259..054b00c9c6 100644
--- a/iCubDarmstadt01/hardware/FT/left_leg-eb7-j4_5-strain.xml
+++ b/iCubDarmstadt01/hardware/FT/left_leg-eb7-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubDarmstadt01/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubDarmstadt01/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/iCubDarmstadt01/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/iCubDarmstadt01/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubDarmstadt01/hardware/FT/right_leg-eb8-j0_3-strain.xml b/iCubDarmstadt01/hardware/FT/right_leg-eb8-j0_3-strain.xml
index 625a9e6a8c..347779199a 100644
--- a/iCubDarmstadt01/hardware/FT/right_leg-eb8-j0_3-strain.xml
+++ b/iCubDarmstadt01/hardware/FT/right_leg-eb8-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubDarmstadt01/hardware/FT/right_leg-eb9-j4_5-strain.xml b/iCubDarmstadt01/hardware/FT/right_leg-eb9-j4_5-strain.xml
index 7858aa6c9a..1f1574ed63 100644
--- a/iCubDarmstadt01/hardware/FT/right_leg-eb9-j4_5-strain.xml
+++ b/iCubDarmstadt01/hardware/FT/right_leg-eb9-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubEdinburgh01/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubEdinburgh01/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/iCubEdinburgh01/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/iCubEdinburgh01/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubEdinburgh01/hardware/FT/left_leg-eb6-j0_3-strain.xml b/iCubEdinburgh01/hardware/FT/left_leg-eb6-j0_3-strain.xml
index aefdddb5b8..6d5961db3d 100644
--- a/iCubEdinburgh01/hardware/FT/left_leg-eb6-j0_3-strain.xml
+++ b/iCubEdinburgh01/hardware/FT/left_leg-eb6-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubEdinburgh01/hardware/FT/left_leg-eb7-j4_5-strain.xml b/iCubEdinburgh01/hardware/FT/left_leg-eb7-j4_5-strain.xml
index 38946b565d..b134f11115 100644
--- a/iCubEdinburgh01/hardware/FT/left_leg-eb7-j4_5-strain.xml
+++ b/iCubEdinburgh01/hardware/FT/left_leg-eb7-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubEdinburgh01/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubEdinburgh01/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/iCubEdinburgh01/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/iCubEdinburgh01/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubEdinburgh01/hardware/FT/right_leg-eb8-j0_3-strain.xml b/iCubEdinburgh01/hardware/FT/right_leg-eb8-j0_3-strain.xml
index 5c78b5c6e6..2ae70d3eae 100644
--- a/iCubEdinburgh01/hardware/FT/right_leg-eb8-j0_3-strain.xml
+++ b/iCubEdinburgh01/hardware/FT/right_leg-eb8-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubEdinburgh01/hardware/FT/right_leg-eb9-j4_5-strain.xml b/iCubEdinburgh01/hardware/FT/right_leg-eb9-j4_5-strain.xml
index ceec54d6ba..74b2917300 100644
--- a/iCubEdinburgh01/hardware/FT/right_leg-eb9-j4_5-strain.xml
+++ b/iCubEdinburgh01/hardware/FT/right_leg-eb9-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubErzelli01/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubErzelli01/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/iCubErzelli01/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/iCubErzelli01/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubErzelli01/hardware/FT/left_leg-eb6-j0_3-strain.xml b/iCubErzelli01/hardware/FT/left_leg-eb6-j0_3-strain.xml
index 640f6bef1e..d626154560 100644
--- a/iCubErzelli01/hardware/FT/left_leg-eb6-j0_3-strain.xml
+++ b/iCubErzelli01/hardware/FT/left_leg-eb6-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubErzelli01/hardware/FT/left_leg-eb7-j4_5-strain.xml b/iCubErzelli01/hardware/FT/left_leg-eb7-j4_5-strain.xml
index fcee3fb768..8874ca2660 100644
--- a/iCubErzelli01/hardware/FT/left_leg-eb7-j4_5-strain.xml
+++ b/iCubErzelli01/hardware/FT/left_leg-eb7-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubErzelli01/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubErzelli01/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/iCubErzelli01/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/iCubErzelli01/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubErzelli01/hardware/FT/right_leg-eb8-j0_3-strain.xml b/iCubErzelli01/hardware/FT/right_leg-eb8-j0_3-strain.xml
index 625a9e6a8c..347779199a 100644
--- a/iCubErzelli01/hardware/FT/right_leg-eb8-j0_3-strain.xml
+++ b/iCubErzelli01/hardware/FT/right_leg-eb8-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubErzelli01/hardware/FT/right_leg-eb9-j4_5-strain.xml b/iCubErzelli01/hardware/FT/right_leg-eb9-j4_5-strain.xml
index a5cc080524..bac1c620d1 100644
--- a/iCubErzelli01/hardware/FT/right_leg-eb9-j4_5-strain.xml
+++ b/iCubErzelli01/hardware/FT/right_leg-eb9-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubErzelli02/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubErzelli02/hardware/FT/left_arm-eb1-j0_3-strain.xml
index a6805ed4f3..9e5b25c5a4 100644
--- a/iCubErzelli02/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/iCubErzelli02/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubErzelli02/hardware/FT/left_leg-eb6-j0_3-strain.xml b/iCubErzelli02/hardware/FT/left_leg-eb6-j0_3-strain.xml
index 640f6bef1e..d626154560 100644
--- a/iCubErzelli02/hardware/FT/left_leg-eb6-j0_3-strain.xml
+++ b/iCubErzelli02/hardware/FT/left_leg-eb6-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubErzelli02/hardware/FT/left_leg-eb7-j4_5-strain.xml b/iCubErzelli02/hardware/FT/left_leg-eb7-j4_5-strain.xml
index fcee3fb768..8874ca2660 100644
--- a/iCubErzelli02/hardware/FT/left_leg-eb7-j4_5-strain.xml
+++ b/iCubErzelli02/hardware/FT/left_leg-eb7-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubErzelli02/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubErzelli02/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/iCubErzelli02/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/iCubErzelli02/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubErzelli02/hardware/FT/right_leg-eb8-j0_3-strain.xml b/iCubErzelli02/hardware/FT/right_leg-eb8-j0_3-strain.xml
index 625a9e6a8c..347779199a 100644
--- a/iCubErzelli02/hardware/FT/right_leg-eb8-j0_3-strain.xml
+++ b/iCubErzelli02/hardware/FT/right_leg-eb8-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubErzelli02/hardware/FT/right_leg-eb9-j4_5-strain.xml b/iCubErzelli02/hardware/FT/right_leg-eb9-j4_5-strain.xml
index a5cc080524..bac1c620d1 100644
--- a/iCubErzelli02/hardware/FT/right_leg-eb9-j4_5-strain.xml
+++ b/iCubErzelli02/hardware/FT/right_leg-eb9-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubGenova02/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubGenova02/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/iCubGenova02/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/iCubGenova02/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubGenova02/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubGenova02/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/iCubGenova02/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/iCubGenova02/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubGenova02/hardware/analogsensors.inertials.readme.xml b/iCubGenova02/hardware/analogsensors.inertials.readme.xml
index 0219e360d6..13900c88bc 100644
--- a/iCubGenova02/hardware/analogsensors.inertials.readme.xml
+++ b/iCubGenova02/hardware/analogsensors.inertials.readme.xml
@@ -2,87 +2,87 @@
 
 <!--
     marco.accame: on 31 mar 2016
-    
+
     on 24 mar 2016 i had a chat with silvio.traversaro and other users of the inertial analog sensors and we defined a desired behaviour for the device.
-    
-    the discussion originated the xml file for embObjInertials but also those (much simpler) for embObjMais and embObjStrain.
-    
-    
+
+    the discussion originated the xml file for embObjInertials but also those (much simpler) for embObjMais and embObjFTsensor.
+
+
     the configuration should be general enough to allow future extensions and at the same time easy enough for managing code in three environment:
     1. the C++ code inside the device embObjInertials.cpp ... parsing xml, build relevant data structures, publishing data in streaming, in rpc etc.
     2. the code of those using the published data ... reading xyz plus timestamp, to be able to associate them to a given sensor ID which can be directly linked to the CAD.
-    3. the C code in the ETH board ... we need compact messaging from icub-main to the board, such as a list of can sensors, a list of sensors directly managed by the board 
+    3. the C code in the ETH board ... we need compact messaging from icub-main to the board, such as a list of can sensors, a list of sensors directly managed by the board
        plus their properties, etc ...
-       
-       
+
+
     the description of the resulting tags is in file legenda.xml, which should be read alongside this document.
-    
-    
-    disclaimer: this is a "direction" not yet a decision. as such, it is subject to requests of changes before start of implementation 
+
+
+    disclaimer: this is a "direction" not yet a decision. as such, it is subject to requests of changes before start of implementation
     and to modifications during the implementation required to make things easier.
 
   -->
-  
+
 <!--
     VARIOUS NOTES:
-    
+
     (01)    the place of this xml file could be in ... i would say: iCubGenova02/hardware/inertials
-    
+
     (02)    the device is called embObjInertials and manages N xyz sensors all associated to a given ETH board. The name of device can be changed.
-    
+
     (04)    The idea is that the device publishes data related to the N sensors in three formats:
 
-            a. a vector of N string identifiers for the sensor (id) which are unique in the robot and allow to associate the sensor to the CAD. 
+            a. a vector of N string identifiers for the sensor (id) which are unique in the robot and allow to associate the sensor to the CAD.
                the size of the vector gives also the number of sensors.
             b. a vector of N timestamps (t), where the timestamp is expressed in micro-sec and is related to the acquisition time of the ETH board of a given triple (x, y, z).
-            c. a vector of N floating point triples (x, y, z), where a triple contains measures from an inertial sensor. the sensor can be an accel or gyros or 
+            c. a vector of N floating point triples (x, y, z), where a triple contains measures from an inertial sensor. the sensor can be an accel or gyros or
                whatever other 3-axis sensor one may want to use.
 
             Data in vector<(id)> are invariant for the lifetime of the wrapper, thus can be read by rcp only once.
-            
+
             Data in vector<(x, y, z)> and vector<(t)> are time-variant and are streamed with the period of the wrapper. Silvio said something about data and metadata
             and also that (x, y, z) are data and (t) can be expressed as metadata.
             Data that is published is guaranteed to be the most recent. however, dat is refreshed with a rate assigned to the sensor which can be different from that
             of the wrapper. For instance, teh period of the wrapper is typically 10 ms, but in SETTINGS/acquisitionRate we may use 50 ms, which is the rate at which each MTB CAN board
-            sends its readings.            
-            
-    (05)    We need to put careful attention to make (x, y, z) consistent with (t). 
-            
+            sends its readings.
+
+    (05)    We need to put careful attention to make (x, y, z) consistent with (t).
+
             The device receives (x, y, z) and (t) one at a time at reception of a UDP packet, hence the vectors are refreshed by function embObjInertials::update() in a given
             position pos. The device publishes the vectors with a different function embObjInertials::read() which is called asynchronously with respect to embObjInertials::update().
             In order to maintain consistency, we must use one mutex which gives mutual exclusion to update() and read().
             Moreover, the function read() must have two arguments and be embObjInertials::read(vector<t>& v1, vector<xyz>& v2), where vector v1 will be put in metadata, vector v2 in data.
-                                    
+
  -->
- 
+
 <!-- INSTRUCTIONS
 
     the format of the xml file is common with mais and strain, hence we can use a single object which parses the file and gives back to the device all relevant information.
-    
+
     about the used syntax.
     it is designed so that the groups are all in CAPITAL_LETTERS and the params are expressed in camelCaseNotation.
     if we need a boolean we use true/false, if we need a number we use it, if we need to chose amongst a limited number of possibilities we use an enumVariableInCamelCase notation.
     the strings are left free and are written without the "".
-    
+
     the parsing and the start of INERTIALS service is done as follows:
     we read SETTINGS.enabledSensors as a vector<string> IDs of size N. we use these strings for publishing in yarp port as described by (04).a
-    then we build what is needed by the ETH board to init the sensors. 
+    then we build what is needed by the ETH board to init the sensors.
     for each id in vector<string> IDs, we get its (type, location) by searching inside PROPERTIES.SENSORS and we fill what is sent to the ETH board to verify and activate
     its service. Then, it is built the vector of (x, y, z) and of (t) and it is asked to the ETH board to start tx of sensors with SETTINGS.acquisitionRate
     there are some checks to be done: what in SETTINGS.enabledSensors must be also in PROPERTIES.SENSORS, so fare we cannot manage sensors which are local to the ET board.
     with this syntax if for instance jorhabib wants to use a new gyro on the foot which is external what is required to do is:
     - add a new column in PROPERTIES.SENSORS with (id = l_foot_2_10B13_extgyro, type = enumSnsrGyrMTBext, location = CAN2-12).
     - add a new entry SETTINGS.enabledSensors with l_foot_2_10B13_extgyro.
-    
+
     the parsing and the start of STRAIN service is done as follows:
     we read SETTINGS.enabledSensors as a vector<string> IDs of size N. N will be 1! we DONT publish these strings for publishing in yarp port as described by (04).a
-    then we build what is needed by the ETH board to init the sensor. 
+    then we build what is needed by the ETH board to init the sensor.
     for each id in vector<string> IDs, we get its (type = enumSnsrSTRAIN, location) by searching inside PROPERTIES.SENSORS and we fill what is sent to the ETH board to verify and activate
     its service. Then, it is built the vector of (a1, a2, a3, a4, a5, a6) which is published in the YARP port.
     we ask the fullscales if STRAIN_SETTINGS.useCalibration is true and then we ask to the ETH board to start tx of sensors with SETTINGS.acquisitionRate.
-    
+
     For the MAIS service it is as with STRAIN but without request of fullscales.
-    
-    
+
+
   -->
 
diff --git a/iCubGenova04/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubGenova04/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/iCubGenova04/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/iCubGenova04/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubGenova04/hardware/FT/left_leg-eb6-j0_3-strain.xml b/iCubGenova04/hardware/FT/left_leg-eb6-j0_3-strain.xml
index 428883cffe..1bc34f2212 100644
--- a/iCubGenova04/hardware/FT/left_leg-eb6-j0_3-strain.xml
+++ b/iCubGenova04/hardware/FT/left_leg-eb6-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubGenova04/hardware/FT/left_leg-eb7-j4_5-strain.xml b/iCubGenova04/hardware/FT/left_leg-eb7-j4_5-strain.xml
index 5610f84066..1bd35cbc2e 100644
--- a/iCubGenova04/hardware/FT/left_leg-eb7-j4_5-strain.xml
+++ b/iCubGenova04/hardware/FT/left_leg-eb7-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubGenova04/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubGenova04/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/iCubGenova04/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/iCubGenova04/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubGenova04/hardware/FT/right_leg-eb8-j0_3-strain.xml b/iCubGenova04/hardware/FT/right_leg-eb8-j0_3-strain.xml
index 8ad9353903..f4ceea0e5b 100644
--- a/iCubGenova04/hardware/FT/right_leg-eb8-j0_3-strain.xml
+++ b/iCubGenova04/hardware/FT/right_leg-eb8-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubGenova04/hardware/FT/right_leg-eb9-j4_5-strain.xml b/iCubGenova04/hardware/FT/right_leg-eb9-j4_5-strain.xml
index e3c7822e1e..c44cc80214 100644
--- a/iCubGenova04/hardware/FT/right_leg-eb9-j4_5-strain.xml
+++ b/iCubGenova04/hardware/FT/right_leg-eb9-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubHeidelberg01/hardware/FT/left_leg-eb6-j0_3-strain.xml b/iCubHeidelberg01/hardware/FT/left_leg-eb6-j0_3-strain.xml
index aefdddb5b8..6d5961db3d 100644
--- a/iCubHeidelberg01/hardware/FT/left_leg-eb6-j0_3-strain.xml
+++ b/iCubHeidelberg01/hardware/FT/left_leg-eb6-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubHeidelberg01/hardware/FT/left_leg-eb7-j4_5-strain.xml b/iCubHeidelberg01/hardware/FT/left_leg-eb7-j4_5-strain.xml
index 38946b565d..b134f11115 100644
--- a/iCubHeidelberg01/hardware/FT/left_leg-eb7-j4_5-strain.xml
+++ b/iCubHeidelberg01/hardware/FT/left_leg-eb7-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubHeidelberg01/hardware/FT/right_leg-eb8-j0_3-strain.xml b/iCubHeidelberg01/hardware/FT/right_leg-eb8-j0_3-strain.xml
index 5c78b5c6e6..2ae70d3eae 100644
--- a/iCubHeidelberg01/hardware/FT/right_leg-eb8-j0_3-strain.xml
+++ b/iCubHeidelberg01/hardware/FT/right_leg-eb8-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubHeidelberg01/hardware/FT/right_leg-eb9-j4_5-strain.xml b/iCubHeidelberg01/hardware/FT/right_leg-eb9-j4_5-strain.xml
index ceec54d6ba..74b2917300 100644
--- a/iCubHeidelberg01/hardware/FT/right_leg-eb9-j4_5-strain.xml
+++ b/iCubHeidelberg01/hardware/FT/right_leg-eb9-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubLausanne02/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubLausanne02/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/iCubLausanne02/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/iCubLausanne02/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubLausanne02/hardware/FT/left_leg-eb6-j0_3-strain.xml b/iCubLausanne02/hardware/FT/left_leg-eb6-j0_3-strain.xml
index aefdddb5b8..6d5961db3d 100644
--- a/iCubLausanne02/hardware/FT/left_leg-eb6-j0_3-strain.xml
+++ b/iCubLausanne02/hardware/FT/left_leg-eb6-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubLausanne02/hardware/FT/left_leg-eb7-j4_5-strain.xml b/iCubLausanne02/hardware/FT/left_leg-eb7-j4_5-strain.xml
index 38946b565d..b134f11115 100644
--- a/iCubLausanne02/hardware/FT/left_leg-eb7-j4_5-strain.xml
+++ b/iCubLausanne02/hardware/FT/left_leg-eb7-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubLausanne02/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubLausanne02/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/iCubLausanne02/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/iCubLausanne02/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubLausanne02/hardware/FT/right_leg-eb8-j0_3-strain.xml b/iCubLausanne02/hardware/FT/right_leg-eb8-j0_3-strain.xml
index 5c78b5c6e6..2ae70d3eae 100644
--- a/iCubLausanne02/hardware/FT/right_leg-eb8-j0_3-strain.xml
+++ b/iCubLausanne02/hardware/FT/right_leg-eb8-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubLausanne02/hardware/FT/right_leg-eb9-j4_5-strain.xml b/iCubLausanne02/hardware/FT/right_leg-eb9-j4_5-strain.xml
index ceec54d6ba..74b2917300 100644
--- a/iCubLausanne02/hardware/FT/right_leg-eb9-j4_5-strain.xml
+++ b/iCubLausanne02/hardware/FT/right_leg-eb9-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubMoscow01/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubMoscow01/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/iCubMoscow01/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/iCubMoscow01/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubMoscow01/hardware/FT/left_leg-eb6-j0_3-strain.xml b/iCubMoscow01/hardware/FT/left_leg-eb6-j0_3-strain.xml
index 640f6bef1e..d626154560 100644
--- a/iCubMoscow01/hardware/FT/left_leg-eb6-j0_3-strain.xml
+++ b/iCubMoscow01/hardware/FT/left_leg-eb6-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubMoscow01/hardware/FT/left_leg-eb7-j4_5-strain.xml b/iCubMoscow01/hardware/FT/left_leg-eb7-j4_5-strain.xml
index fcee3fb768..8874ca2660 100644
--- a/iCubMoscow01/hardware/FT/left_leg-eb7-j4_5-strain.xml
+++ b/iCubMoscow01/hardware/FT/left_leg-eb7-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubMoscow01/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubMoscow01/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/iCubMoscow01/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/iCubMoscow01/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubMoscow01/hardware/FT/right_leg-eb8-j0_3-strain.xml b/iCubMoscow01/hardware/FT/right_leg-eb8-j0_3-strain.xml
index 625a9e6a8c..347779199a 100644
--- a/iCubMoscow01/hardware/FT/right_leg-eb8-j0_3-strain.xml
+++ b/iCubMoscow01/hardware/FT/right_leg-eb8-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubMoscow01/hardware/FT/right_leg-eb9-j4_5-strain.xml b/iCubMoscow01/hardware/FT/right_leg-eb9-j4_5-strain.xml
index a5cc080524..bac1c620d1 100644
--- a/iCubMoscow01/hardware/FT/right_leg-eb9-j4_5-strain.xml
+++ b/iCubMoscow01/hardware/FT/right_leg-eb9-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubNancy01/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubNancy01/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/iCubNancy01/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/iCubNancy01/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubNancy01/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubNancy01/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/iCubNancy01/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/iCubNancy01/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubNottingham01/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubNottingham01/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/iCubNottingham01/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/iCubNottingham01/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubNottingham01/hardware/FT/left_leg-eb6-j0_3-strain.xml b/iCubNottingham01/hardware/FT/left_leg-eb6-j0_3-strain.xml
index aefdddb5b8..6d5961db3d 100644
--- a/iCubNottingham01/hardware/FT/left_leg-eb6-j0_3-strain.xml
+++ b/iCubNottingham01/hardware/FT/left_leg-eb6-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubNottingham01/hardware/FT/left_leg-eb7-j4_5-strain.xml b/iCubNottingham01/hardware/FT/left_leg-eb7-j4_5-strain.xml
index 38946b565d..b134f11115 100644
--- a/iCubNottingham01/hardware/FT/left_leg-eb7-j4_5-strain.xml
+++ b/iCubNottingham01/hardware/FT/left_leg-eb7-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubNottingham01/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubNottingham01/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/iCubNottingham01/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/iCubNottingham01/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubNottingham01/hardware/FT/right_leg-eb8-j0_3-strain.xml b/iCubNottingham01/hardware/FT/right_leg-eb8-j0_3-strain.xml
index 5c78b5c6e6..2ae70d3eae 100644
--- a/iCubNottingham01/hardware/FT/right_leg-eb8-j0_3-strain.xml
+++ b/iCubNottingham01/hardware/FT/right_leg-eb8-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubNottingham01/hardware/FT/right_leg-eb9-j4_5-strain.xml b/iCubNottingham01/hardware/FT/right_leg-eb9-j4_5-strain.xml
index ceec54d6ba..74b2917300 100644
--- a/iCubNottingham01/hardware/FT/right_leg-eb9-j4_5-strain.xml
+++ b/iCubNottingham01/hardware/FT/right_leg-eb9-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubSheffield01/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubSheffield01/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/iCubSheffield01/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/iCubSheffield01/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubSheffield01/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubSheffield01/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/iCubSheffield01/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/iCubSheffield01/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubShenzhen01/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubShenzhen01/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/iCubShenzhen01/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/iCubShenzhen01/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubShenzhen01/hardware/FT/left_leg-eb6-j0_3-strain.xml b/iCubShenzhen01/hardware/FT/left_leg-eb6-j0_3-strain.xml
index 640f6bef1e..d626154560 100644
--- a/iCubShenzhen01/hardware/FT/left_leg-eb6-j0_3-strain.xml
+++ b/iCubShenzhen01/hardware/FT/left_leg-eb6-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubShenzhen01/hardware/FT/left_leg-eb7-j4_5-strain.xml b/iCubShenzhen01/hardware/FT/left_leg-eb7-j4_5-strain.xml
index fcee3fb768..8874ca2660 100644
--- a/iCubShenzhen01/hardware/FT/left_leg-eb7-j4_5-strain.xml
+++ b/iCubShenzhen01/hardware/FT/left_leg-eb7-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubShenzhen01/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubShenzhen01/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/iCubShenzhen01/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/iCubShenzhen01/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubShenzhen01/hardware/FT/right_leg-eb8-j0_3-strain.xml b/iCubShenzhen01/hardware/FT/right_leg-eb8-j0_3-strain.xml
index 625a9e6a8c..347779199a 100644
--- a/iCubShenzhen01/hardware/FT/right_leg-eb8-j0_3-strain.xml
+++ b/iCubShenzhen01/hardware/FT/right_leg-eb8-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubShenzhen01/hardware/FT/right_leg-eb9-j4_5-strain.xml b/iCubShenzhen01/hardware/FT/right_leg-eb9-j4_5-strain.xml
index a5cc080524..bac1c620d1 100644
--- a/iCubShenzhen01/hardware/FT/right_leg-eb9-j4_5-strain.xml
+++ b/iCubShenzhen01/hardware/FT/right_leg-eb9-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubSingapore01/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubSingapore01/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/iCubSingapore01/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/iCubSingapore01/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubSingapore01/hardware/FT/left_leg-eb6-j0_3-strain.xml b/iCubSingapore01/hardware/FT/left_leg-eb6-j0_3-strain.xml
index 640f6bef1e..d626154560 100644
--- a/iCubSingapore01/hardware/FT/left_leg-eb6-j0_3-strain.xml
+++ b/iCubSingapore01/hardware/FT/left_leg-eb6-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubSingapore01/hardware/FT/left_leg-eb7-j4_5-strain.xml b/iCubSingapore01/hardware/FT/left_leg-eb7-j4_5-strain.xml
index 2666cf8259..054b00c9c6 100644
--- a/iCubSingapore01/hardware/FT/left_leg-eb7-j4_5-strain.xml
+++ b/iCubSingapore01/hardware/FT/left_leg-eb7-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubSingapore01/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubSingapore01/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/iCubSingapore01/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/iCubSingapore01/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubSingapore01/hardware/FT/right_leg-eb8-j0_3-strain.xml b/iCubSingapore01/hardware/FT/right_leg-eb8-j0_3-strain.xml
index 625a9e6a8c..347779199a 100644
--- a/iCubSingapore01/hardware/FT/right_leg-eb8-j0_3-strain.xml
+++ b/iCubSingapore01/hardware/FT/right_leg-eb8-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubSingapore01/hardware/FT/right_leg-eb9-j4_5-strain.xml b/iCubSingapore01/hardware/FT/right_leg-eb9-j4_5-strain.xml
index 7858aa6c9a..1f1574ed63 100644
--- a/iCubSingapore01/hardware/FT/right_leg-eb9-j4_5-strain.xml
+++ b/iCubSingapore01/hardware/FT/right_leg-eb9-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubTemplates/iCubTemplateV3_0/hardware/FT/body_part-ebX-strain.xml b/iCubTemplates/iCubTemplateV3_0/hardware/FT/body_part-ebX-strain.xml
index 7002a67b51..63f7ae117c 100644
--- a/iCubTemplates/iCubTemplateV3_0/hardware/FT/body_part-ebX-strain.xml
+++ b/iCubTemplates/iCubTemplateV3_0/hardware/FT/body_part-ebX-strain.xml
@@ -1,90 +1,90 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
-<!--    This file contains details of how the mais service is configured. 
+<!--    This file contains details of how the mais service is configured.
   -->
 
 
-    <!-- This device name must be the same as specified in the wrapper xml file. It is of type embObjStrain. -->
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="body_part-ebX" type="embObjStrain">
-    
+    <!-- This device name must be the same as specified in the wrapper xml file. It is of type embObjFTsensor. -->
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="body_part-ebX" type="embObjFTsensor">
+
         <!-- Include the file which specifies global configuration -->
         <xi:include href="../../general.xml"/>
 
         <!-- Include the file which specifies which ETH board hosts the service -->
-        <xi:include href="../../hardware/electronics/filenameOfETHboard-eln.xml" /> 
-    
+        <xi:include href="../../hardware/electronics/filenameOfETHboard-eln.xml" />
+
         <!-- This group defines the service -->
         <group name="SERVICE">
-            
+
             <!-- The type of service expressed as stringised values of eOmn_serv_type_t. For strain it must be eomn_serv_AS_strain -->
             <param name="type"> eomn_serv_AS_strain </param>
-        
+
             <!-- This group defines the properties of the service -->
             <group name="PROPERTIES">
-  
+
                 <!-- This group defines the properties of the CAN boards -->
                 <group name="CANBOARDS">
-                
-                    <!-- This param tells the type expressed as stringised values of eObrd_type_t also in short version (short version: without prefix eobrd_) 
+
+                    <!-- This param tells the type expressed as stringised values of eObrd_type_t also in short version (short version: without prefix eobrd_)
                          so far it can be only strain
                       -->
                     <param name="type">                 eobrd_strain         </param>
 
-                    <!-- This param tells the protocol version required to run the service. Values are in range [0, 255] 
+                    <!-- This param tells the protocol version required to run the service. Values are in range [0, 255]
                          if (0, 0) no check is done, otherwise there must be a CAN board with detected major = PROTOCOL.major and detected minor >= PROTOCOL.minor -->
                     <group name="PROTOCOL">
-                        <param name="major">            0                   </param>    
-                        <param name="minor">            0                   </param>     
-                    </group> 
-                    
-                    <!-- This param tells the firmware version required to run the service. Values are in range [0, 255] 
+                        <param name="major">            0                   </param>
+                        <param name="minor">            0                   </param>
+                    </group>
+
+                    <!-- This param tells the firmware version required to run the service. Values are in range [0, 255]
                          if (0, 0, 0) no check is done, otherwise there must be a CAN board with detected major = FIRMWARE.major and detected minor >= FIRMWARE.minor -->
                     <group name="FIRMWARE">
-                        <param name="major">            0                   </param>    
-                        <param name="minor">            0                   </param> 
+                        <param name="major">            0                   </param>
+                        <param name="minor">            0                   </param>
                         <param name="build">            0                   </param>
                     </group>
-                    
+
                 </group>
-                
+
                 <!-- This group defines the available sensors. They are those defined by production. In strain there is only one sensor -->
                 <group name="SENSORS">
-                
+
                     <!-- This param is the id of the sensor. its name should be defined in production -->
                     <param name="id">                   id_l_arm_strain      </param>
                     <!-- This param is the type of the sensor. it must be eoas_strain  -->
                     <param name="type">                 eoas_strain          </param>
                     <!-- This param is the address of the sensor. Its uses the format CANx:addr  -->
                     <param name="location">             CAN2:7             </param>
-                    
-                </group>              
-            
+
+                </group>
+
             </group>
-            
-            
+
+
             <!-- This group defines the settings which can be applied to the available sensor. -->
-            <group name="SETTINGS"> 
-            
+            <group name="SETTINGS">
+
                 <!-- The acquisition rate of all the sensor in ms. values are in range [1, 255]. Use 10 -->
                 <param name="acquisitionRate">          10                  </param>
                 <!-- The list of the enabled sensors ... there is always one and is the value of PROPERTIES.PROPERTIES.SENSORS.id -->
                 <param name="enabledSensors">           id_l_arm_strain      </param>
-                
-            </group>            
-            
+
+            </group>
+
             <!-- This group defines the settings which apply to the strain only. -->
-            <group name="STRAIN_SETTINGS"> 
-            
-                <!-- tells if the strain uses calivation or not. Values are true / false. -->            
-                <param name="useCalibration">           true                    </param>     
-                
-            </group>            
-            
+            <group name="STRAIN_SETTINGS">
+
+                <!-- tells if the strain uses calivation or not. Values are true / false. -->
+                <param name="useCalibration">           true                    </param>
+
+            </group>
+
         </group>
-    
+
   </device>
-  
+
 
 
 
diff --git a/iCubTemplates/iCubTemplateV4_0/hardware/FT/body_part-ebX-strain.xml b/iCubTemplates/iCubTemplateV4_0/hardware/FT/body_part-ebX-strain.xml
index 237960035d..103393338a 100644
--- a/iCubTemplates/iCubTemplateV4_0/hardware/FT/body_part-ebX-strain.xml
+++ b/iCubTemplates/iCubTemplateV4_0/hardware/FT/body_part-ebX-strain.xml
@@ -1,90 +1,90 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
-<!--    This file contains details of how the mais service is configured. 
+<!--    This file contains details of how the mais service is configured.
   -->
 
 
-    <!-- This device name must be the same as specified in the wrapper xml file. It is of type embObjStrain. -->
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="body_part-ebX" type="embObjStrain">
-    
+    <!-- This device name must be the same as specified in the wrapper xml file. It is of type embObjFTsensor. -->
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="body_part-ebX" type="embObjFTsensor">
+
         <!-- Include the file which specifies global configuration -->
         <xi:include href="../../general.xml"/>
 
         <!-- Include the file which specifies which ETH board hosts the service -->
-        <xi:include href="../../hardware/electronics/filenameOfETHboard-eln.xml" /> 
-    
+        <xi:include href="../../hardware/electronics/filenameOfETHboard-eln.xml" />
+
         <!-- This group defines the service -->
         <group name="SERVICE">
-            
+
             <!-- The type of service expressed as stringised values of eOmn_serv_type_t. For strain it must be eomn_serv_AS_strain -->
             <param name="type"> eomn_serv_AS_strain </param>
-        
+
             <!-- This group defines the properties of the service -->
             <group name="PROPERTIES">
-  
+
                 <!-- This group defines the properties of the CAN boards -->
                 <group name="CANBOARDS">
-                
-                    <!-- This param tells the type expressed as stringised values of eObrd_type_t also in short version (short version: without prefix eobrd_) 
+
+                    <!-- This param tells the type expressed as stringised values of eObrd_type_t also in short version (short version: without prefix eobrd_)
                          so far it can be strain or strain2
                       -->
                     <param name="type">                 eobrd_strain         </param>
 
-                    <!-- This param tells the protocol version required to run the service. Values are in range [0, 255] 
+                    <!-- This param tells the protocol version required to run the service. Values are in range [0, 255]
                          if (0, 0) no check is done, otherwise there must be a CAN board with detected major = PROTOCOL.major and detected minor >= PROTOCOL.minor -->
                     <group name="PROTOCOL">
-                        <param name="major">            0                   </param>    
-                        <param name="minor">            0                   </param>     
-                    </group> 
-                    
-                    <!-- This param tells the firmware version required to run the service. Values are in range [0, 255] 
+                        <param name="major">            0                   </param>
+                        <param name="minor">            0                   </param>
+                    </group>
+
+                    <!-- This param tells the firmware version required to run the service. Values are in range [0, 255]
                          if (0, 0, 0) no check is done, otherwise there must be a CAN board with detected major = FIRMWARE.major and detected minor >= FIRMWARE.minor -->
                     <group name="FIRMWARE">
-                        <param name="major">            0                   </param>    
-                        <param name="minor">            0                   </param> 
+                        <param name="major">            0                   </param>
+                        <param name="minor">            0                   </param>
                         <param name="build">            0                   </param>
                     </group>
-                    
+
                 </group>
-                
+
                 <!-- This group defines the available sensors. They are those defined by production. In strain there is only one sensor -->
                 <group name="SENSORS">
-                
+
                     <!-- This param is the id of the sensor. its name should be defined in production -->
                     <param name="id">                   id_l_arm_strain      </param>
                     <!-- This param is the type of the sensor. it must be eoas_strain  -->
                     <param name="type">                 eoas_strain          </param>
                     <!-- This param is the address of the sensor. Its uses the format CANx:addr  -->
                     <param name="location">             CAN2:7             </param>
-                    
-                </group>              
-            
+
+                </group>
+
             </group>
-            
-            
+
+
             <!-- This group defines the settings which can be applied to the available sensor. -->
-            <group name="SETTINGS"> 
-            
+            <group name="SETTINGS">
+
                 <!-- The acquisition rate of all the sensor in ms. values are in range [1, 255]. Use 10 -->
                 <param name="acquisitionRate">          10                  </param>
                 <!-- The list of the enabled sensors ... there is always one and is the value of PROPERTIES.PROPERTIES.SENSORS.id -->
                 <param name="enabledSensors">           id_l_arm_strain      </param>
-                
-            </group>            
-            
+
+            </group>
+
             <!-- This group defines the settings which apply to the strain only. -->
-            <group name="STRAIN_SETTINGS"> 
-            
-                <!-- tells if the strain uses calivation or not. Values are true / false. -->            
-                <param name="useCalibration">           true                    </param>     
-                
-            </group>            
-            
+            <group name="STRAIN_SETTINGS">
+
+                <!-- tells if the strain uses calivation or not. Values are true / false. -->
+                <param name="useCalibration">           true                    </param>
+
+            </group>
+
         </group>
-    
+
   </device>
-  
+
 
 
 
diff --git a/iCubTemplates/iCubTemplateV5_0/hardware/FT/body_part-ebX-strain.xml b/iCubTemplates/iCubTemplateV5_0/hardware/FT/body_part-ebX-strain.xml
index 237960035d..103393338a 100644
--- a/iCubTemplates/iCubTemplateV5_0/hardware/FT/body_part-ebX-strain.xml
+++ b/iCubTemplates/iCubTemplateV5_0/hardware/FT/body_part-ebX-strain.xml
@@ -1,90 +1,90 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
-<!--    This file contains details of how the mais service is configured. 
+<!--    This file contains details of how the mais service is configured.
   -->
 
 
-    <!-- This device name must be the same as specified in the wrapper xml file. It is of type embObjStrain. -->
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="body_part-ebX" type="embObjStrain">
-    
+    <!-- This device name must be the same as specified in the wrapper xml file. It is of type embObjFTsensor. -->
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="body_part-ebX" type="embObjFTsensor">
+
         <!-- Include the file which specifies global configuration -->
         <xi:include href="../../general.xml"/>
 
         <!-- Include the file which specifies which ETH board hosts the service -->
-        <xi:include href="../../hardware/electronics/filenameOfETHboard-eln.xml" /> 
-    
+        <xi:include href="../../hardware/electronics/filenameOfETHboard-eln.xml" />
+
         <!-- This group defines the service -->
         <group name="SERVICE">
-            
+
             <!-- The type of service expressed as stringised values of eOmn_serv_type_t. For strain it must be eomn_serv_AS_strain -->
             <param name="type"> eomn_serv_AS_strain </param>
-        
+
             <!-- This group defines the properties of the service -->
             <group name="PROPERTIES">
-  
+
                 <!-- This group defines the properties of the CAN boards -->
                 <group name="CANBOARDS">
-                
-                    <!-- This param tells the type expressed as stringised values of eObrd_type_t also in short version (short version: without prefix eobrd_) 
+
+                    <!-- This param tells the type expressed as stringised values of eObrd_type_t also in short version (short version: without prefix eobrd_)
                          so far it can be strain or strain2
                       -->
                     <param name="type">                 eobrd_strain         </param>
 
-                    <!-- This param tells the protocol version required to run the service. Values are in range [0, 255] 
+                    <!-- This param tells the protocol version required to run the service. Values are in range [0, 255]
                          if (0, 0) no check is done, otherwise there must be a CAN board with detected major = PROTOCOL.major and detected minor >= PROTOCOL.minor -->
                     <group name="PROTOCOL">
-                        <param name="major">            0                   </param>    
-                        <param name="minor">            0                   </param>     
-                    </group> 
-                    
-                    <!-- This param tells the firmware version required to run the service. Values are in range [0, 255] 
+                        <param name="major">            0                   </param>
+                        <param name="minor">            0                   </param>
+                    </group>
+
+                    <!-- This param tells the firmware version required to run the service. Values are in range [0, 255]
                          if (0, 0, 0) no check is done, otherwise there must be a CAN board with detected major = FIRMWARE.major and detected minor >= FIRMWARE.minor -->
                     <group name="FIRMWARE">
-                        <param name="major">            0                   </param>    
-                        <param name="minor">            0                   </param> 
+                        <param name="major">            0                   </param>
+                        <param name="minor">            0                   </param>
                         <param name="build">            0                   </param>
                     </group>
-                    
+
                 </group>
-                
+
                 <!-- This group defines the available sensors. They are those defined by production. In strain there is only one sensor -->
                 <group name="SENSORS">
-                
+
                     <!-- This param is the id of the sensor. its name should be defined in production -->
                     <param name="id">                   id_l_arm_strain      </param>
                     <!-- This param is the type of the sensor. it must be eoas_strain  -->
                     <param name="type">                 eoas_strain          </param>
                     <!-- This param is the address of the sensor. Its uses the format CANx:addr  -->
                     <param name="location">             CAN2:7             </param>
-                    
-                </group>              
-            
+
+                </group>
+
             </group>
-            
-            
+
+
             <!-- This group defines the settings which can be applied to the available sensor. -->
-            <group name="SETTINGS"> 
-            
+            <group name="SETTINGS">
+
                 <!-- The acquisition rate of all the sensor in ms. values are in range [1, 255]. Use 10 -->
                 <param name="acquisitionRate">          10                  </param>
                 <!-- The list of the enabled sensors ... there is always one and is the value of PROPERTIES.PROPERTIES.SENSORS.id -->
                 <param name="enabledSensors">           id_l_arm_strain      </param>
-                
-            </group>            
-            
+
+            </group>
+
             <!-- This group defines the settings which apply to the strain only. -->
-            <group name="STRAIN_SETTINGS"> 
-            
-                <!-- tells if the strain uses calivation or not. Values are true / false. -->            
-                <param name="useCalibration">           true                    </param>     
-                
-            </group>            
-            
+            <group name="STRAIN_SETTINGS">
+
+                <!-- tells if the strain uses calivation or not. Values are true / false. -->
+                <param name="useCalibration">           true                    </param>
+
+            </group>
+
         </group>
-    
+
   </device>
-  
+
 
 
 
diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/FT/body_part-ebX-strain.xml b/iCubTemplates/iCubTemplateV6_0/hardware/FT/body_part-ebX-strain.xml
index 237960035d..103393338a 100644
--- a/iCubTemplates/iCubTemplateV6_0/hardware/FT/body_part-ebX-strain.xml
+++ b/iCubTemplates/iCubTemplateV6_0/hardware/FT/body_part-ebX-strain.xml
@@ -1,90 +1,90 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
-<!--    This file contains details of how the mais service is configured. 
+<!--    This file contains details of how the mais service is configured.
   -->
 
 
-    <!-- This device name must be the same as specified in the wrapper xml file. It is of type embObjStrain. -->
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="body_part-ebX" type="embObjStrain">
-    
+    <!-- This device name must be the same as specified in the wrapper xml file. It is of type embObjFTsensor. -->
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="body_part-ebX" type="embObjFTsensor">
+
         <!-- Include the file which specifies global configuration -->
         <xi:include href="../../general.xml"/>
 
         <!-- Include the file which specifies which ETH board hosts the service -->
-        <xi:include href="../../hardware/electronics/filenameOfETHboard-eln.xml" /> 
-    
+        <xi:include href="../../hardware/electronics/filenameOfETHboard-eln.xml" />
+
         <!-- This group defines the service -->
         <group name="SERVICE">
-            
+
             <!-- The type of service expressed as stringised values of eOmn_serv_type_t. For strain it must be eomn_serv_AS_strain -->
             <param name="type"> eomn_serv_AS_strain </param>
-        
+
             <!-- This group defines the properties of the service -->
             <group name="PROPERTIES">
-  
+
                 <!-- This group defines the properties of the CAN boards -->
                 <group name="CANBOARDS">
-                
-                    <!-- This param tells the type expressed as stringised values of eObrd_type_t also in short version (short version: without prefix eobrd_) 
+
+                    <!-- This param tells the type expressed as stringised values of eObrd_type_t also in short version (short version: without prefix eobrd_)
                          so far it can be strain or strain2
                       -->
                     <param name="type">                 eobrd_strain         </param>
 
-                    <!-- This param tells the protocol version required to run the service. Values are in range [0, 255] 
+                    <!-- This param tells the protocol version required to run the service. Values are in range [0, 255]
                          if (0, 0) no check is done, otherwise there must be a CAN board with detected major = PROTOCOL.major and detected minor >= PROTOCOL.minor -->
                     <group name="PROTOCOL">
-                        <param name="major">            0                   </param>    
-                        <param name="minor">            0                   </param>     
-                    </group> 
-                    
-                    <!-- This param tells the firmware version required to run the service. Values are in range [0, 255] 
+                        <param name="major">            0                   </param>
+                        <param name="minor">            0                   </param>
+                    </group>
+
+                    <!-- This param tells the firmware version required to run the service. Values are in range [0, 255]
                          if (0, 0, 0) no check is done, otherwise there must be a CAN board with detected major = FIRMWARE.major and detected minor >= FIRMWARE.minor -->
                     <group name="FIRMWARE">
-                        <param name="major">            0                   </param>    
-                        <param name="minor">            0                   </param> 
+                        <param name="major">            0                   </param>
+                        <param name="minor">            0                   </param>
                         <param name="build">            0                   </param>
                     </group>
-                    
+
                 </group>
-                
+
                 <!-- This group defines the available sensors. They are those defined by production. In strain there is only one sensor -->
                 <group name="SENSORS">
-                
+
                     <!-- This param is the id of the sensor. its name should be defined in production -->
                     <param name="id">                   id_l_arm_strain      </param>
                     <!-- This param is the type of the sensor. it must be eoas_strain  -->
                     <param name="type">                 eoas_strain          </param>
                     <!-- This param is the address of the sensor. Its uses the format CANx:addr  -->
                     <param name="location">             CAN2:7             </param>
-                    
-                </group>              
-            
+
+                </group>
+
             </group>
-            
-            
+
+
             <!-- This group defines the settings which can be applied to the available sensor. -->
-            <group name="SETTINGS"> 
-            
+            <group name="SETTINGS">
+
                 <!-- The acquisition rate of all the sensor in ms. values are in range [1, 255]. Use 10 -->
                 <param name="acquisitionRate">          10                  </param>
                 <!-- The list of the enabled sensors ... there is always one and is the value of PROPERTIES.PROPERTIES.SENSORS.id -->
                 <param name="enabledSensors">           id_l_arm_strain      </param>
-                
-            </group>            
-            
+
+            </group>
+
             <!-- This group defines the settings which apply to the strain only. -->
-            <group name="STRAIN_SETTINGS"> 
-            
-                <!-- tells if the strain uses calivation or not. Values are true / false. -->            
-                <param name="useCalibration">           true                    </param>     
-                
-            </group>            
-            
+            <group name="STRAIN_SETTINGS">
+
+                <!-- tells if the strain uses calivation or not. Values are true / false. -->
+                <param name="useCalibration">           true                    </param>
+
+            </group>
+
         </group>
-    
+
   </device>
-  
+
 
 
 
diff --git a/iCubTwente01/hardware/FT/left_arm-eb1-j0_3-strain.xml b/iCubTwente01/hardware/FT/left_arm-eb1-j0_3-strain.xml
index 2a9444571a..f437719dc7 100644
--- a/iCubTwente01/hardware/FT/left_arm-eb1-j0_3-strain.xml
+++ b/iCubTwente01/hardware/FT/left_arm-eb1-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubTwente01/hardware/FT/left_leg-eb6-j0_3-strain.xml b/iCubTwente01/hardware/FT/left_leg-eb6-j0_3-strain.xml
index 640f6bef1e..d626154560 100644
--- a/iCubTwente01/hardware/FT/left_leg-eb6-j0_3-strain.xml
+++ b/iCubTwente01/hardware/FT/left_leg-eb6-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubTwente01/hardware/FT/left_leg-eb7-j4_5-strain.xml b/iCubTwente01/hardware/FT/left_leg-eb7-j4_5-strain.xml
index 2666cf8259..054b00c9c6 100644
--- a/iCubTwente01/hardware/FT/left_leg-eb7-j4_5-strain.xml
+++ b/iCubTwente01/hardware/FT/left_leg-eb7-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubTwente01/hardware/FT/right_arm-eb3-j0_3-strain.xml b/iCubTwente01/hardware/FT/right_arm-eb3-j0_3-strain.xml
index 1b526e5bff..f8bcad7717 100644
--- a/iCubTwente01/hardware/FT/right_arm-eb3-j0_3-strain.xml
+++ b/iCubTwente01/hardware/FT/right_arm-eb3-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubTwente01/hardware/FT/right_leg-eb8-j0_3-strain.xml b/iCubTwente01/hardware/FT/right_leg-eb8-j0_3-strain.xml
index 625a9e6a8c..347779199a 100644
--- a/iCubTwente01/hardware/FT/right_leg-eb8-j0_3-strain.xml
+++ b/iCubTwente01/hardware/FT/right_leg-eb8-j0_3-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>
 
diff --git a/iCubTwente01/hardware/FT/right_leg-eb9-j4_5-strain.xml b/iCubTwente01/hardware/FT/right_leg-eb9-j4_5-strain.xml
index 7858aa6c9a..1f1574ed63 100644
--- a/iCubTwente01/hardware/FT/right_leg-eb9-j4_5-strain.xml
+++ b/iCubTwente01/hardware/FT/right_leg-eb9-j4_5-strain.xml
@@ -3,7 +3,7 @@
 
 
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">
 
         <xi:include href="../../general.xml"/>