diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3c1bc3358a..ff5ec2a77f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,8 @@ All notable changes to this project are documented in this file.
 - 🤖  [ `ergoCubGazeboV1_1`] Add configuration files to log data with the `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/806, https://github.com/ami-iit/bipedal-locomotion-framework/pull/808)
 
 ### Changed
+- 🤖 [ergoCubSN001] Add logging of the wrist and fix the name of the waist imu (https://github.com/ami-iit/bipedal-locomotion-framework/pull/810)
+
 ### Fixed
 ### Removed
 
diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/all_joints_mc.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/all_joints_mc.xml
index 7dfeedd0df..2a0e3bad60 100644
--- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/all_joints_mc.xml
+++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/blf-yarp-robot-logger-interfaces/all_joints_mc.xml
@@ -4,7 +4,7 @@ BSD-3-Clause license. -->
 <?xml version="1.0" encoding="UTF-8" ?>
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="all_joints_mc" type="remotecontrolboardremapper">
     <param name="remoteControlBoards">("/ergocub/head", "/ergocub/torso", "/ergocub/left_arm", "/ergocub/right_arm", "/ergocub/left_leg", "/ergocub/right_leg")</param>
-    <param name="axesNames">("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_pitch", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow",  "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")</param>
+    <param name="axesNames">("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_pitch", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_pitch", "l_wrist_roll", "l_wrist_yaw",  "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow",  "r_wrist_pitch", "r_wrist_roll", "r_wrist_yaw", "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")</param>
     <param name="localPortPrefix">/yarp_robot_logger/joints</param>
 
     <group name="REMOTE_CONTROLBOARD_OPTIONS">
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 293308eff9..23eb17b494 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">
-    (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)
+    (waist_imu_0, 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">
-    (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)
+    (waist_imu_0, 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">
-    (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)
+    (waist_imu_0, 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">
-    (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)
+    (waist_imu_0, 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, r_arm_ft, l_arm_ft)
diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
index 7b7077e73b..75c846eaa8 100644
--- a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
+++ b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
@@ -84,7 +84,7 @@ BSD-3-Clause license. -->
     <param name="stream_temperatures">true</param>
 
     <group name="RemoteControlBoardRemapper">
-      <param name="joints_list">("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_pitch", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow",  "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow", "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")</param>
+      <param name="joints_list">("neck_pitch", "neck_roll", "neck_yaw", "camera_tilt", "torso_pitch", "torso_roll", "torso_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "l_elbow", "l_wrist_pitch", "l_wrist_roll", "l_wrist_yaw",  "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw", "r_elbow",  "r_wrist_pitch", "r_wrist_roll", "r_wrist_yaw", "l_hip_pitch", "l_hip_roll", "l_hip_yaw", "l_knee", "l_ankle_pitch", "l_ankle_roll", "r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")</param>
     </group>
 
     <group name="SixAxisForceTorqueSensors">
@@ -101,10 +101,10 @@ BSD-3-Clause license. -->
     </group>
 
     <group name="InertialSensors">
-      <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>
+      <param name="accelerometers_list">(waist_imu_0, 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">(waist_imu_0, 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">(waist_imu_0, 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">(waist_imu_0, 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>