diff --git a/ergoCubSN001/ergocub.xml b/ergoCubSN001/ergocub.xml
index 925786ec6e..4562056718 100644
--- a/ergoCubSN001/ergocub.xml
+++ b/ergoCubSN001/ergocub.xml
@@ -40,6 +40,7 @@
+
diff --git a/ergoCubSN002/ergocub.xml b/ergoCubSN002/ergocub.xml
index 7d5b085673..adec928187 100644
--- a/ergoCubSN002/ergocub.xml
+++ b/ergoCubSN002/ergocub.xml
@@ -40,6 +40,7 @@
+
diff --git a/ergoCubSN002/wrappers/motorControl/head-mc-slow_wrapper.xml b/ergoCubSN002/wrappers/motorControl/head-mc-slow_wrapper.xml
new file mode 100644
index 0000000000..eb15193779
--- /dev/null
+++ b/ergoCubSN002/wrappers/motorControl/head-mc-slow_wrapper.xml
@@ -0,0 +1,11 @@
+
+
+
+
+ 0.02
+ /ergocub/head_slow
+
+ head-mc_remapper
+
+
+