diff --git a/CHANGELOG.md b/CHANGELOG.md
index 479cebab3b..9c6f41571f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,7 @@ All notable changes to this project are documented in this file.
 ### Added
 
 ### Changed
+- 🤖 [`ergoCubSN001`] Update `YarpRobotLoggerDevice` configuration file to exclude the head-imu and include the arms FTs  (https://github.com/ami-iit/bipedal-locomotion-framework/pull/798)
 
 ### Fixed
 
diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/imu_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/imu_clients.xml
index 3321408050..d6602b5099 100644
--- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/imu_clients.xml
+++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/imu_clients.xml
@@ -5,13 +5,22 @@
 
 <devices>
 
-  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_imu_acc" type="multipleanalogsensorsclient">
+  <!--device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_imu_acc" type="multipleanalogsensorsclient">
     <param name="remote">/ergocub/head/inertials</param>
     <param name="local">/yarp_robot_logger/head/inertials</param>
     <param name="timeout">0.5</param>
     <param name="carrier">fast_tcp</param>
+  </device-->
+
+
+  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="waist_imu_client" type="multipleanalogsensorsclient">
+    <param name="remote">/ergocub/waist/inertials</param>
+    <param name="local">/yarp_robot_logger/waist/inertials</param>
+    <param name="timeout">0.5</param>
+    <param name="carrier">fast_tcp</param>
   </device>
 
+
   <!--device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_imu_client" type="multipleanalogsensorsclient">
     <param name="remote">/ergocub/left_arm/imu</param>
     <param name="local">/yarp_robot_logger/left_arm/imu</param>
@@ -55,5 +64,3 @@
   </device>
 
 </devices>
-
-
diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml
index eb89811bae..d369044911 100644
--- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml
+++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/mas-remapper.xml
@@ -6,16 +6,16 @@
 <device  xmlns:xi="http://www.w3.org/2001/XInclude" name="mas-remapper" type="multipleanalogsensorsremapper">
   <param name="period">10</param>
   <param name="ThreeAxisGyroscopesNames">
-    (rfeimu_gyro, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro)
+    (sensor_imu_xsensmt, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro)
   </param>
   <param name="ThreeAxisLinearAccelerometersNames">
-    (rfeimu_acc, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc)
+    (sensor_imu_xsensmt, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc)
   </param>
   <param name="ThreeAxisMagnetometersNames">
-    (rfeimu_mag, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag)
+    (sensor_imu_xsensmt, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag)
   </param>
   <param name="OrientationSensorsNames">
-    (rfeimu_eul, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul)
+    (sensor_imu_xsensmt, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul)
   </param>
   <param name="SixAxisForceTorqueSensorsNames">
     (l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft)
@@ -30,7 +30,8 @@
       <elem name="right_arm_ft_client">right_arm_ft_client</elem-->
       <elem name="left_leg_ft_client">left_leg_ft_client</elem>
       <elem name="right_leg_ft_client">right_leg_ft_client</elem>
-      <elem name="head_imu_acc">head_imu_acc</elem>
+      <!--elem name="head_imu_acc">head_imu_acc</elem-->
+      <elem name="waist_imu_client">waist_imu_client</elem>
       <!--elem name="left_arm_imu_client">left_arm_imu_client</elem>
       <elem name="right_arm_imu_client">right_arm_imu_client</elem-->
       <elem name="left_foot_imu_client">left_foot_imu_client</elem>
diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
index 444ed58f77..77cc299da9 100644
--- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
+++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
@@ -25,7 +25,7 @@ BSD-3-Clause license. -->
   </group>
 
   <group name="ExogenousSignals">
-    <param name="vectors_collection_exogenous_inputs">("Walking")</param>
+    <param name="vectors_collection_exogenous_inputs">("Walking", "GridTracking","cmw")</param>
     <param name="vectors_exogenous_inputs">()</param>
 
     <group name="Walking">
@@ -35,6 +35,13 @@ BSD-3-Clause license. -->
       <param name="carrier">"udp"</param>
     </group>
 
+    <group name="cmw">
+      <param name="local">"/yarp-robot-logger/exogenous_signals/cmw"</param>
+      <param name="remote">"/cmw-walking/log"</param>
+      <param name="signal_name">"cmw"</param>
+      <param name="carrier">"udp"</param>
+    </group>
+
     <group name="Balancing">
       <param name="local">"/yarp-robot-logger/exogenous_signals/balancing_position_controller"</param>
       <param name="remote">"/balancing_position_controller/logger"</param>
@@ -48,6 +55,13 @@ BSD-3-Clause license. -->
       <param name="signal_name">"rde"</param>
       <param name="carrier">"udp"</param>
     </group>
+
+    <group name="GridTracking">
+      <param name="local">"/yarp-robot-logger/exogenous_signals/joints_grid_position_tracking"</param>
+      <param name="remote">"/joints_grid_position_tracking/logger"</param>
+      <param name="signal_name">"grid_tracking"</param>
+      <param name="carrier">"udp"</param>
+    </group>
   </group>
 
   <group name="RobotCameraBridge">
@@ -87,10 +101,10 @@ BSD-3-Clause license. -->
     </group>
 
     <group name="InertialSensors">
-      <param name="accelerometers_list">(rfeimu_acc, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc)</param>
-      <param name="gyroscopes_list">(rfeimu_gyro, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro)</param>
-      <param name="magnetometers_list">(rfeimu_mag, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag)</param>
-      <param name="orientation_sensors_list">(rfeimu_eul, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul)</param>
+      <param name="accelerometers_list">(sensor_imu_xsensmt, l_foot_front_ft_acc, l_foot_rear_ft_acc, r_foot_front_ft_acc, r_foot_rear_ft_acc, l_leg_ft_acc, r_leg_ft_acc)</param>
+      <param name="gyroscopes_list">(sensor_imu_xsensmt, l_foot_front_ft_gyro, l_foot_rear_ft_gyro, r_foot_front_ft_gyro, r_foot_rear_ft_gyro, l_leg_ft_gyro, r_leg_ft_gyro)</param>
+      <param name="magnetometers_list">(sensor_imu_xsensmt, l_foot_front_ft_mag, l_foot_rear_ft_mag, r_foot_front_ft_mag, r_foot_rear_ft_mag, l_leg_ft_mag, r_leg_ft_mag)</param>
+      <param name="orientation_sensors_list">(sensor_imu_xsensmt, l_foot_front_ft_eul, l_foot_rear_ft_eul, r_foot_front_ft_eul, r_foot_rear_ft_eul, l_leg_ft_eul, r_leg_ft_eul)</param>
     </group>
 
   </group>
@@ -103,8 +117,8 @@ BSD-3-Clause license. -->
       <elem name="left_rear_wrench_client">left_rear_wrench_client</elem>
       <elem name="right_front_wrench_client">right_front_wrench_client</elem>
       <elem name="right_rear_wrench_client">right_rear_wrench_client</elem>
-      <!-- <elem name="right_arm_wrench_client">right_arm_wrench_client</elem> -->
-      <!-- <elem name="left_arm_wrench_client">left_arm_wrench_client</elem> -->
+      <!--elem name="right_arm_wrench_client">right_arm_wrench_client</elem>
+      <elem name="left_arm_wrench_client">left_arm_wrench_client</elem-->
       <elem name="mas-remapper">mas-remapper</elem>
       <!-- <elem name="realsense">realsense</elem> -->
       <elem name="jabra">jabra</elem>