diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/ft_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/ft_clients.xml
index 56329018bd..74f6346816 100644
--- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/ft_clients.xml
+++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/ft_clients.xml
@@ -4,7 +4,7 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 
 <devices>
-  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_ft_client" type="multipleanalogsensorsclient">
+  <!--<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_ft_client" type="multipleanalogsensorsclient">
     <param name="remote">/ergocub/left_arm/FT</param>
     <param name="local">/yarp_robot_logger/left_arm</param>
     <param name="timeout">0.5</param>
@@ -16,7 +16,7 @@
     <param name="local">/yarp_robot_logger/right_arm</param>
     <param name="timeout">0.5</param>
     <param name="carrier">fast_tcp</param>
-  </device>
+  </device> -->
 
   <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_ft_client" type="multipleanalogsensorsclient">
     <param name="remote">/ergocub/left_leg/FT</param>
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 ea6c1da71c..d665d647fe 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
@@ -21,19 +21,19 @@
   </device>
 
 
-  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_imu_client" type="multipleanalogsensorsclient">
+ <!-- <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>
     <param name="timeout">0.5</param>
     <param name="carrier">fast_tcp</param>
-  </device>
+  </device> -->
 
-  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_imu_client" type="multipleanalogsensorsclient">
+  <!--<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_imu_client" type="multipleanalogsensorsclient">
     <param name="remote">/ergocub/right_arm/imu</param>
     <param name="local">/yarp_robot_logger/right_arm/imu</param>
     <param name="timeout">0.5</param>
     <param name="carrier">fast_tcp</param>
-  </device>
+  </device> -->
 
   <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot_imu_client" type="multipleanalogsensorsclient">
     <param name="remote">/ergocub/left_foot_heel_tiptoe/imu</param>
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 1bb6cf384b..9f6ee80d80 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
@@ -6,34 +6,34 @@
 <device  xmlns:xi="http://www.w3.org/2001/XInclude" name="mas-remapper" type="multipleanalogsensorsremapper">
   <param name="period">10</param>
   <param name="ThreeAxisGyroscopesNames">
-    (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
+    (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </param>
   <param name="ThreeAxisLinearAccelerometersNames">
-    (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
+    (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </param>
   <param name="ThreeAxisMagnetometersNames">
-    (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
+    (waist_imu_0,  l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </param>
   <param name="OrientationSensorsNames">
-    (waist_imu_0, l_arm_ft_imu, r_arm_ft_imu, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
+    (waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)
   </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, r_arm_ft, l_arm_ft)
+    (l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft)
   </param>
   <param name="TemperatureSensorsNames">
-    (l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft, r_arm_ft, l_arm_ft)
+    (l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft)
   </param>
 
   <action phase="startup" level="5" type="attach">
     <paramlist name="networks">
-      <elem name="left_arm_ft_client">left_arm_ft_client</elem>
-      <elem name="right_arm_ft_client">right_arm_ft_client</elem>
+      <!-- <elem name="left_arm_ft_client">left_arm_ft_client</elem> -->
+      <!-- <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="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_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>
       <elem name="right_foot_imu_client">right_foot_imu_client</elem>
       <elem name="left_leg_imu_client">left_leg_imu_client</elem>
diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/launch-yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/launch-yarp-robot-logger.xml
index b6c440edad..d5469d0dd1 100644
--- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/launch-yarp-robot-logger.xml
+++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/launch-yarp-robot-logger.xml
@@ -13,7 +13,7 @@ BSD-3-Clause license. -->
         <xi:include href="blf-yarp-robot-logger-interfaces/ft_clients.xml" />
         <xi:include href="blf-yarp-robot-logger-interfaces/mas-remapper.xml" />
         <xi:include href="blf-yarp-robot-logger-interfaces/wrench_clients.xml" />
-        <xi:include href="blf-yarp-robot-logger-interfaces/webcams.xml" />
+        <!-- <xi:include href="blf-yarp-robot-logger-interfaces/webcams.xml" /> -->
         <xi:include href="./yarp-robot-logger.xml" />
     </devices>
 </robot>
diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
index 43ea7684ff..d0d7a0da81 100644
--- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
+++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
@@ -7,8 +7,8 @@ BSD-3-Clause license. -->
   <param name="robot">ergocub</param>
   <param name="sampling_period_in_s">0.01</param>
 
-  <param name="rgb_cameras_fps">(20)</param>
-  <param name="rgb_cameras_rgb_save_mode">("video")</param>
+  <param name="rgb_cameras_fps">()</param>
+  <param name="rgb_cameras_rgb_save_mode">()</param>
 
   <param name="rgbd_cameras_fps">()</param>
   <param name="rgbd_cameras_depth_scale">()</param>
@@ -77,7 +77,7 @@ BSD-3-Clause license. -->
   </group>
 
   <group name="RobotCameraBridge">
-      <param name="stream_cameras">true</param>
+      <param name="stream_cameras">false</param>
       <group name="Cameras">
         <param name="rgb_cameras_list">("jabra")</param>
         <param name="rgbd_cameras_list">()</param>
@@ -100,11 +100,11 @@ BSD-3-Clause license. -->
     </group>
 
     <group name="SixAxisForceTorqueSensors">
-      <param name="sixaxis_forcetorque_sensors_list">(l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft, r_arm_ft, l_arm_ft)</param>
+      <param name="sixaxis_forcetorque_sensors_list">(l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft)</param>
     </group>
 
     <group name="TemperatureSensors">
-      <param name="temperature_sensors_list">(l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft, r_arm_ft, l_arm_ft)</param>
+      <param name="temperature_sensors_list">(l_foot_front_ft, l_foot_rear_ft, r_foot_front_ft, r_foot_rear_ft, l_leg_ft, r_leg_ft)</param>
     </group>
 
     <group name="CartesianWrenches">
@@ -112,10 +112,10 @@ BSD-3-Clause license. -->
     </group>
 
     <group name="InertialSensors">
-      <param name="accelerometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param>
-      <param name="gyroscopes_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param>
-      <param name="magnetometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param>
-      <param name="orientation_sensors_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu, r_arm_ft_imu, l_arm_ft_imu)</param>
+      <param name="accelerometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
+      <param name="gyroscopes_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
+      <param name="magnetometers_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
+      <param name="orientation_sensors_list">(waist_imu_0, l_foot_front_ft_imu, l_foot_rear_ft_imu, r_foot_front_ft_imu, r_foot_rear_ft_imu, l_leg_ft_imu, r_leg_ft_imu)</param>
     </group>
 
   </group>
@@ -134,7 +134,7 @@ BSD-3-Clause license. -->
       <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>
+      <!-- <elem name="jabra">jabra</elem> -->
     </paramlist>
   </action>
 
diff --git a/utilities/joint-position-tracking/src/Main.cpp b/utilities/joint-position-tracking/src/Main.cpp
index 0b5f0477ce..be299d5fdf 100644
--- a/utilities/joint-position-tracking/src/Main.cpp
+++ b/utilities/joint-position-tracking/src/Main.cpp
@@ -25,7 +25,7 @@ int main(int argc, char* argv[])
     // prepare and configure the resource finder
     yarp::os::ResourceFinder& rf = yarp::os::ResourceFinder::getResourceFinderSingleton();
 
-    rf.setDefaultConfigFile("jointPositionTrackingOptions.ini");
+    rf.setDefaultConfigFile("blf-joint-position-tracking-options.ini");
 
     rf.configure(argc, argv);
 
diff --git a/utilities/joint-position-tracking/src/Module.cpp b/utilities/joint-position-tracking/src/Module.cpp
index 814d7dce94..93886f85f4 100644
--- a/utilities/joint-position-tracking/src/Module.cpp
+++ b/utilities/joint-position-tracking/src/Module.cpp
@@ -185,7 +185,7 @@ bool Module::configure(yarp::os::ResourceFinder& rf)
     m_initTrajectoryTime = yarp::os::Time::now();
 
     // switch in position direct control
-    if (!m_robotControl.setControlMode(RobotInterface::IRobotControl::ControlMode::PositionDirect))
+    if (!m_robotControl.setControlMode(RobotInterface::IRobotControl::ControlMode::Velocity))
     {
         log()->error("[Module::configure] Unable to switch in position direct control.");
         return false;
@@ -236,8 +236,8 @@ bool Module::updateModule()
     }
 
     // set the reference
-    if (!m_robotControl.setReferences(m_spline.getOutput().position,
-                                      RobotInterface::IRobotControl::ControlMode::PositionDirect,
+    if (!m_robotControl.setReferences(m_spline.getOutput().velocity,
+                                      RobotInterface::IRobotControl::ControlMode::Velocity,
                                       m_currentJointPos))
     {
         log()->error("{} Unable to set the reference.", logPrefix);