diff --git a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml
index decebf8c..6ad9a53f 100644
--- a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml
+++ b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml
@@ -1590,74 +1590,6 @@ reverseRotationAxis:
     r_pinkie_prox
 
 XMLBlobs:
-    # left foot IMU (front)
-    - |
-            <gazebo reference="l_ankle_2">
-              <sensor name="l_foot_front_ft_imu" type="imu">
-                <always_on>1</always_on>
-                <update_rate>100</update_rate>
-                <pose>0.13525 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
-                <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
-                  <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
-                </plugin>
-              </sensor>
-            </gazebo>
-    - |
-            <sensor name="l_foot_front_ft_imu" type="accelerometer">
-              <parent link="l_ankle_2" />
-              <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993" />
-            </sensor>
-    # left foot IMU (rear)
-    - |
-            <gazebo reference="l_ankle_2">
-              <sensor name="l_foot_rear_ft_imu" type="imu">
-                <always_on>1</always_on>
-                <update_rate>100</update_rate>
-                <pose>0.016000000000000004 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
-                <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
-                  <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
-                </plugin>
-              </sensor>
-            </gazebo>
-    - |
-            <sensor name="l_foot_rear_ft_imu" type="accelerometer">
-              <parent link="l_ankle_2" />
-              <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993" />
-            </sensor>
-    # right foot IMU (front)
-    - |
-            <gazebo reference="r_ankle_2">
-              <sensor name="r_foot_front_ft_imu" type="imu">
-                <always_on>1</always_on>
-                <update_rate>100</update_rate>
-                <pose>0.13525 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
-                <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
-                  <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
-                </plugin>
-              </sensor>
-            </gazebo>
-    - |
-            <sensor name="r_foot_front_ft_imu" type="accelerometer">
-              <parent link="r_ankle_2" />
-              <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993" />
-            </sensor>
-    # right foot IMU (rear)
-    - |
-            <gazebo reference="r_ankle_2">
-              <sensor name="r_foot_rear_ft_imu" type="imu">
-                <always_on>1</always_on>
-                <update_rate>100</update_rate>
-                <pose>0.016000000000000004 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
-                <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
-                  <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
-                </plugin>
-              </sensor>
-            </gazebo>
-    - |
-            <sensor name="r_foot_rear_ft_imu" type="accelerometer">
-              <parent link="r_ankle_2" />
-              <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993" />
-            </sensor>
     # imu waist (workaround since simmechanics was not updated)
     - |
             <link name="waist_imu_0"/>
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
index ce06b61f..9bb50883 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
@@ -1127,8 +1127,8 @@
     </collision>
   </link>
   <joint name="l_index_add" type="revolute">
-    <origin xyz="0.022500000000000034 -0.0015000000000006397 -0.06859999999999966" rpy="-8.126657451512497e-16 -0.2967059722446555 1.7414265967526777e-16"/>
-    <axis xyz="1.3005559878087045e-15 1.0000000000000002 -1.953448495705706e-15"/>
+    <origin xyz="0.022500000000000023 -0.0015000000000006952 -0.0685999999999996" rpy="-8.416895217637947e-16 -0.29670597224465534 5.804755322508926e-17"/>
+    <axis xyz="1.1895336853461886e-15 0.9999999999999999 -1.9812040713213337e-15"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_index_1"/>
     <limit lower="0" upper="0.2617993877991494" effort="1e+9" velocity="1e+9"/>
@@ -1137,7 +1137,7 @@
   <link name="l_hand_index_1">
     <inertial>
       <mass value="0.01923264"/>
-      <origin xyz="0.0046807100979840005 0.0038510231744862677 -0.018526526203731464" rpy="0 -0 0"/>
+      <origin xyz="0.0046807100979840005 0.0038510231744863237 -0.018526526203731575" rpy="0 -0 0"/>
       <inertia ixx="0.01" ixy="1.4548370851701976e-7" ixz="1.4373172964405972e-7" iyy="0.01" iyz="-6.425403568227921e-7" izz="0.01"/>
     </inertial>
     <visual>
@@ -1427,8 +1427,8 @@
     </collision>
   </link>
   <joint name="l_index_prox" type="revolute">
-    <origin xyz="0.009192533346793416 -2.7755575615628914e-17 -0.030713451309624162" rpy="-2.7755575615628914e-16 -7.023611553469422e-10 -7.771561172376094e-16"/>
-    <axis xyz="-1.0000000000000002 2.7755575615627613e-17 7.023654366444809e-10"/>
+    <origin xyz="0.00919253334679343 0 -0.030713451309624218" rpy="-3.0531133177191815e-16 -7.023611484080483e-10 -7.771561172376096e-16"/>
+    <axis xyz="-1 8.326672684688522e-17 7.023654435833748e-10"/>
     <parent link="l_hand_index_1"/>
     <child link="l_hand_index_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1457,8 +1457,8 @@
     </collision>
   </link>
   <joint name="l_index_dist" type="revolute">
-    <origin xyz="-2.7755575615628914e-17 -0.0014999999999999736 -0.039999999999999925" rpy="-7.482326169760975e-8 1.734723475976807e-16 -6.106226635438361e-16"/>
-    <axis xyz="-1 -1.804112664227406e-16 9.020562801946248e-17"/>
+    <origin xyz="-1.3877787807814457e-17 -0.001500000000000029 -0.03999999999999987" rpy="-7.482326172536535e-8 1.8041124150158794e-16 -6.106226635438361e-16"/>
+    <axis xyz="-1 -2.359224176539984e-16 4.163337069211178e-17"/>
     <parent link="l_hand_index_2"/>
     <child link="l_hand_index_3"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -1467,7 +1467,7 @@
   <link name="l_hand_index_3">
     <inertial>
       <mass value="0.007251413"/>
-      <origin xyz="-0.018787329483201373 0.002754671170301093 -0.018853294932697606" rpy="0 -0 0"/>
+      <origin xyz="-0.018787329483201345 0.0027546711703011484 -0.018853294932697662" rpy="0 -0 0"/>
       <inertia ixx="0.01" ixy="4.65463304290381e-8" ixz="2.5624287052698965e-7" iyy="0.01" iyz="-2.891156821380605e-7" izz="0.01"/>
     </inertial>
     <visual>
@@ -2764,62 +2764,6 @@
     <parent link="r_hand_thumb_3"/>
     <child link="r_hand_thumb_skin_9"/>
   </joint>
-  <gazebo reference="l_ankle_2">
-    <sensor name="l_foot_front_ft_imu" type="imu">
-      <always_on>1</always_on>
-      <update_rate>100</update_rate>
-      <pose>0.13525 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
-      <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
-        <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
-      </plugin>
-    </sensor>
-  </gazebo>
-  <sensor name="l_foot_front_ft_imu" type="accelerometer">
-    <parent link="l_ankle_2"/>
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993"/>
-  </sensor>
-  <gazebo reference="l_ankle_2">
-    <sensor name="l_foot_rear_ft_imu" type="imu">
-      <always_on>1</always_on>
-      <update_rate>100</update_rate>
-      <pose>0.016000000000000004 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
-      <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
-        <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
-      </plugin>
-    </sensor>
-  </gazebo>
-  <sensor name="l_foot_rear_ft_imu" type="accelerometer">
-    <parent link="l_ankle_2"/>
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993"/>
-  </sensor>
-  <gazebo reference="r_ankle_2">
-    <sensor name="r_foot_front_ft_imu" type="imu">
-      <always_on>1</always_on>
-      <update_rate>100</update_rate>
-      <pose>0.13525 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
-      <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
-        <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini</yarpConfigurationFile>
-      </plugin>
-    </sensor>
-  </gazebo>
-  <sensor name="r_foot_front_ft_imu" type="accelerometer">
-    <parent link="r_ankle_2"/>
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.13525 0 -0.07019999999999993"/>
-  </sensor>
-  <gazebo reference="r_ankle_2">
-    <sensor name="r_foot_rear_ft_imu" type="imu">
-      <always_on>1</always_on>
-      <update_rate>100</update_rate>
-      <pose>0.016000000000000004 0 -0.07019999999999993 0.0 -0.0 -2.0943952105869315</pose>
-      <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
-        <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini</yarpConfigurationFile>
-      </plugin>
-    </sensor>
-  </gazebo>
-  <sensor name="r_foot_rear_ft_imu" type="accelerometer">
-    <parent link="r_ankle_2"/>
-    <origin rpy="0.0 -0.0 -2.0943952105869315" xyz="0.016000000000000004 0 -0.07019999999999993"/>
-  </sensor>
   <link name="waist_imu_0"/>
   <joint name="waist_imu_0_fixed_joint" type="fixed">
     <origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>