diff --git a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml
index 481430c7..2f3a205d 100644
--- a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml
+++ b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options.yaml
@@ -1048,6 +1048,74 @@ reverseRotationAxis:
     r_pinkie_dist
 
 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/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml
index 874fab86..ca0a7d50 100644
--- a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml
+++ b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml
@@ -1233,6 +1233,74 @@ reverseRotationAxis:
     r_pinkie_dist
 
 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/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml
index ab484604..8acb4648 100644
--- a/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml
+++ b/urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml
@@ -1542,6 +1542,74 @@ reverseRotationAxis:
     r_pinkie_dist
 
 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/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml
index 077dcd35..eab63d8a 100644
--- a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml
+++ b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options.yaml
@@ -1051,6 +1051,74 @@ 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/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml
index dd046544..e6f55b0d 100644
--- a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml
+++ b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml
@@ -1246,6 +1246,74 @@ 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/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml
index e081828f..075febb8 100644
--- a/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml
+++ b/urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml
@@ -1546,6 +1546,74 @@ 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/conf/ergocub.xml b/urdf/ergoCub/conf/ergocub.xml
index 44643c8b..e730a870 100644
--- a/urdf/ergoCub/conf/ergocub.xml
+++ b/urdf/ergoCub/conf/ergocub.xml
@@ -30,6 +30,10 @@
     <!-- INERTIAL SENSOR-->
     <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
     <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/left_foot-IMU_remapper.xml" />
+    <xi:include href="wrappers/inertials/left_foot-IMU_wrapper.xml" />
+    <xi:include href="wrappers/inertials/right_foot-IMU_remapper.xml" />
+    <xi:include href="wrappers/inertials/right_foot-IMU_wrapper.xml" />
 
     <!--  HEAD SENSORS -->
     <xi:include href="sensors/rgbd_camera_wrapper.xml" />
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini b/urdf/ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini
new file mode 100644
index 00000000..03340fc5
--- /dev/null
+++ b/urdf/ergoCub/conf/gazebo_ergocub_l_foot_front_ft_sensor_inertial.ini
@@ -0,0 +1,2 @@
+disableImplicitNetworkWrapper
+yarpDeviceName l_foot_front_ft_sensor_inertial_hardware_device
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini b/urdf/ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini
new file mode 100644
index 00000000..9b839a47
--- /dev/null
+++ b/urdf/ergoCub/conf/gazebo_ergocub_l_foot_rear_ft_sensor_inertial.ini
@@ -0,0 +1,2 @@
+disableImplicitNetworkWrapper
+yarpDeviceName l_foot_rear_ft_sensor_inertial_hardware_device
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini b/urdf/ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini
new file mode 100644
index 00000000..001f24d8
--- /dev/null
+++ b/urdf/ergoCub/conf/gazebo_ergocub_r_foot_front_ft_sensor_inertial.ini
@@ -0,0 +1,2 @@
+disableImplicitNetworkWrapper
+yarpDeviceName r_foot_front_ft_sensor_inertial_hardware_device
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini b/urdf/ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini
new file mode 100644
index 00000000..005d0a80
--- /dev/null
+++ b/urdf/ergoCub/conf/gazebo_ergocub_r_foot_rear_ft_sensor_inertial.ini
@@ -0,0 +1,2 @@
+disableImplicitNetworkWrapper
+yarpDeviceName r_foot_rear_ft_sensor_inertial_hardware_device
diff --git a/urdf/ergoCub/conf/wrappers/inertials/left_foot-IMU_remapper.xml b/urdf/ergoCub/conf/wrappers/inertials/left_foot-IMU_remapper.xml
new file mode 100644
index 00000000..fc0eb0c8
--- /dev/null
+++ b/urdf/ergoCub/conf/wrappers/inertials/left_foot-IMU_remapper.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot-IMU_remapper" type="multipleanalogsensorsremapper">
+
+  <param name="ThreeAxisGyroscopesNames">
+    (l_foot_front_ft_imu, l_foot_rear_ft_imu)
+  </param>
+  <param name="ThreeAxisLinearAccelerometersNames">
+    (l_foot_front_ft_imu, l_foot_rear_ft_imu)
+  </param>
+  <param name="ThreeAxisMagnetometersNames">
+    (l_foot_front_ft_imu, l_foot_rear_ft_imu)
+  </param>
+  <param name="OrientationSensorsNames">
+    (l_foot_front_ft_imu, l_foot_rear_ft_imu)
+  </param>
+
+    <action phase="startup" level="5" type="attach">
+         <paramlist name="networks">
+             <elem name="FirstIMU"> l_foot_front_ft_sensor_inertial_hardware_device </elem>
+             <elem name="SecondIMU"> l_foot_rear_ft_sensor_inertial_hardware_device </elem>
+         </paramlist>
+     </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/urdf/ergoCub/conf/wrappers/inertials/left_foot-IMU_wrapper.xml b/urdf/ergoCub/conf/wrappers/inertials/left_foot-IMU_wrapper.xml
new file mode 100644
index 00000000..7f66df07
--- /dev/null
+++ b/urdf/ergoCub/conf/wrappers/inertials/left_foot-IMU_wrapper.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot-IMU_wrapper" type="multipleanalogsensorsserver">
+        <param name="period">       10                  </param>
+        <param name="name">     ${portprefix}/left_foot_heel_tiptoe/imu       </param>
+
+
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="SetOfIMUs"> left_foot-IMU_remapper </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="15" type="detach" />
+    </device>
diff --git a/urdf/ergoCub/conf/wrappers/inertials/right_foot-IMU_remapper.xml b/urdf/ergoCub/conf/wrappers/inertials/right_foot-IMU_remapper.xml
new file mode 100644
index 00000000..ec11436b
--- /dev/null
+++ b/urdf/ergoCub/conf/wrappers/inertials/right_foot-IMU_remapper.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot-IMU_remapper" type="multipleanalogsensorsremapper">
+
+  <param name="ThreeAxisGyroscopesNames">
+    (r_foot_front_ft_imu, r_foot_rear_ft_imu)
+  </param>
+  <param name="ThreeAxisLinearAccelerometersNames">
+    (r_foot_front_ft_imu, r_foot_rear_ft_imu)
+  </param>
+  <param name="ThreeAxisMagnetometersNames">
+    (r_foot_front_ft_imu, r_foot_rear_ft_imu)
+  </param>
+  <param name="OrientationSensorsNames">
+    (r_foot_front_ft_imu, r_foot_rear_ft_imu)
+  </param>
+
+    <action phase="startup" level="5" type="attach">
+         <paramlist name="networks">
+             <elem name="FirstIMU"> r_foot_front_ft_sensor_inertial_hardware_device </elem>
+             <elem name="SecondIMU"> r_foot_rear_ft_sensor_inertial_hardware_device </elem>
+         </paramlist>
+     </action>
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/urdf/ergoCub/conf/wrappers/inertials/right_foot-IMU_wrapper.xml b/urdf/ergoCub/conf/wrappers/inertials/right_foot-IMU_wrapper.xml
new file mode 100644
index 00000000..cca089c2
--- /dev/null
+++ b/urdf/ergoCub/conf/wrappers/inertials/right_foot-IMU_wrapper.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot-IMU_wrapper" type="multipleanalogsensorsserver">
+        <param name="period">       10                  </param>
+        <param name="name">     ${portprefix}/right_foot_heel_tiptoe/imu       </param>
+
+
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="SetOfIMUs"> right_foot-IMU_remapper </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="15" type="detach" />
+    </device>
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
index 3a2e6f09..ba776969 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
@@ -2893,6 +2893,62 @@
     <child link="l_hand_pinkie_skin_11"/>
     <dynamics damping="0.1"/>
   </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"/>
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
index 09175cef..32b029f0 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
@@ -2950,6 +2950,62 @@
     <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"/>
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
index 87088e73..814da2c6 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
@@ -2764,6 +2764,62 @@
     <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"/>
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
index d654f7b5..e3c46d24 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
@@ -2893,6 +2893,62 @@
     <child link="l_hand_pinkie_skin_11"/>
     <dynamics damping="0.1"/>
   </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"/>
diff --git a/urdf/ergoCub/robots/ergoCubSN000/model.urdf b/urdf/ergoCub/robots/ergoCubSN000/model.urdf
index cbf786d5..3537f021 100644
--- a/urdf/ergoCub/robots/ergoCubSN000/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubSN000/model.urdf
@@ -2893,6 +2893,62 @@
     <child link="l_hand_pinkie_skin_11"/>
     <dynamics damping="0.1"/>
   </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"/>
diff --git a/urdf/ergoCub/robots/ergoCubSN001/model.urdf b/urdf/ergoCub/robots/ergoCubSN001/model.urdf
index 74a25c8f..d7423496 100644
--- a/urdf/ergoCub/robots/ergoCubSN001/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubSN001/model.urdf
@@ -2950,6 +2950,62 @@
     <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"/>