diff --git a/emBODY/eBcode/arch-arm/board/amcbldc/utils/directories.json b/emBODY/eBcode/arch-arm/board/amcbldc/utils/directories.json
new file mode 100644
index 0000000000..55de7bc9a5
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+++ b/emBODY/eBcode/arch-arm/board/amcbldc/utils/directories.json
@@ -0,0 +1,93 @@
+{
+    "subdirectories_to_copy": [
+        {
+            "source_directory": "_sharedutils",
+            "source_directory_parent": "ert",
+            "target_directory": "sharedutils",            
+            "files": [
+                "*.cpp",
+                "*.h"
+            ]
+        },
+        {
+            "source_directory": "AMC_BLDC_ert_rtw",
+            "target_directory": "amc-bldc",            
+            "files": [
+                "AMC*.cpp",
+                "AMC*.h"
+            ]
+        },
+        {
+            "source_directory": "can_decoder",
+            "source_directory_parent": "ert",
+            "target_directory": "can-decoder",            
+            "files": [
+                "*.cpp",
+                "*.h"
+            ]
+        },
+        {
+            "source_directory": "can_encoder",
+            "source_directory_parent": "ert",
+            "target_directory": "can-encoder",            
+            "files": [
+                "*.cpp",
+                "*.h"
+            ]
+        },
+        {
+            "source_directory": "control_foc",
+            "source_directory_parent": "ert",
+            "target_directory": "control-foc",            
+            "files": [
+                "*.cpp",
+                "*.h"
+            ]
+        },
+        {
+            "source_directory": "control_outer",
+            "source_directory_parent": "ert",
+            "target_directory": "control-outer",            
+            "files": [
+                "*.cpp",
+                "*.h"
+            ]
+        },
+        {
+            "source_directory": "estimation_velocity",
+            "source_directory_parent": "ert",
+            "target_directory": "estimator",            
+            "files": [
+                "*.cpp",
+                "*.h"
+            ]
+        },
+        {
+            "source_directory": "filter_current",
+            "source_directory_parent": "ert",
+            "target_directory": "filter-current",            
+            "files": [
+                "*.cpp",
+                "*.h"
+            ]
+        },
+        {
+            "source_directory": "SupervisorFSM_RX",
+            "source_directory_parent": "ert",
+            "target_directory": "supervisor-rx",            
+            "files": [
+                "*.cpp",
+                "*.h"
+            ]
+        },
+        {
+            "source_directory": "SupervisorFSM_TX",
+            "source_directory_parent": "ert",
+            "target_directory": "supervisor-tx",            
+            "files": [
+                "*.cpp",
+                "*.h"
+            ]
+        }
+    ]
+}
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diff --git a/emBODY/eBcode/arch-arm/mbd/utils/README.md b/emBODY/eBcode/arch-arm/mbd/utils/README.md
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+++ b/emBODY/eBcode/arch-arm/mbd/utils/README.md
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+## How to use the Copier script
+
+To use the Copier script, run the following command:
+
+```bash
+ Python3 copier.py <source> <destination> <path_to_directories_json>.
+```
+
+**Notes:**
+- _source_: It's the directory where the generated code by Simulink resides. This should point to the `codegen` directory of the Model repository.
+
+- _destinantion_: It's the directory where to copy the code. This should point to the `src/model-based-design` directory of `icub-firmware` repo of the respective board.
+
+- _path_to_directories_json_: It's the path to the `directories.json` file. This file should be placed, and properly configured, for each board that includes parts of `mbd` code.
+
+- ⚠️ The program is intended to work on **Windows** machines only. 
+
+## `directories.json`
+
+The json file is verified before running the script. If something is wrong, you will most likely get an error showing the problem. 
+
+The structure of the json goes as follows:
+
+
+It's the directory where to paste the code. This should point to the `src/model-based-design` directory of the respective `icub-firmware` repo.
+
+You can input the location by pieces in an array. The code will join the strings together.
+
+#### Subdirectories
+
+```json
+"subdirectories_to_copy": [
+    {"..."},
+]
+```
+
+This holds the information of the subdirectories that will be copied from source to target. 
+
+Each entry in the `subdirectories_to_copy` should be another dictionary following this structure:
+
+```json
+{
+    "source_directory": "...",
+    "source_directory_parent": "...",
+    "target_directory": "...",            
+    "files": [
+        "...",
+    ]
+}
+```
+
+`source_directory`: name of the subdirectory in the source. This subdirectory can be anywhere in the file structure of the source. The copier will search for it through the entire file hierarchy.
+
+`source_directory_parent` [optional]: if there are several subdirectories with the same name, you can specify the parent to select which one to choose.
+
+For example, if inside the source there is a directory called `src/files` and `lib/files`, using `files` as source and `src` in the parent field will select the former of the two.
+
+`target_directory`: name of the directory in which to paste the files. This directory must exist already in the target. If you are copying into a new directory first create the empty target and then run the script.
+
+`files`: selectors for the files. The script will only copy files whose names match the given selectors. 
+
+For example, if you only want `.cpp` and `.h` files that begin with `helloworld` you could do the following:
+
+```json
+"files": [
+    "helloworld*.cpp",
+    "helloworld*.h"
+]
+```
+
+Any file that doesn't follow this naming will be excluded from being copied.
+
+
+### Example of `directories.json`
+
+```json
+{
+    "subdirectories_to_copy": [
+        {
+            "source_directory": "can_decoder",
+            "source_directory_parent": "ert",
+            "target_directory": "can-decoder",            
+            "files": [
+                "*.cpp",
+                "*.h"
+            ]
+        },
+        {
+            "source_directory": "can_encoder",
+            "source_directory_parent": "ert",
+            "target_directory": "can-encoder",            
+            "files": [
+                "*.cpp",
+                "*.h"
+            ]
+        }
+    ]
+}
+```
+
+[1]: ../../board/amcbldc/utils/directories.json
diff --git a/emBODY/eBcode/arch-arm/mbd/utils/copier.py b/emBODY/eBcode/arch-arm/mbd/utils/copier.py
new file mode 100644
index 0000000000..42ae9c3a3b
--- /dev/null
+++ b/emBODY/eBcode/arch-arm/mbd/utils/copier.py
@@ -0,0 +1,109 @@
+"""
+ Copyright (C) 2022 iCub Tech - Istituto Italiano di Tecnologia
+ Author:  Simone Girardi
+ email:   simone.girardi@iit.it
+"""
+
+import os.path
+import os
+import glob
+import shutil
+import json
+import argparse
+
+SECTION="-------------------"
+BIG_SECTION="*******************"
+
+# Checking if the directory is empty or not
+def is_empty(dir):
+    try:
+        if not os.listdir(dir):
+            print(dir + " is an empty directory.")
+            print("Aborting...")
+            return True
+        else:
+            return False
+    except FileNotFoundError:
+        print(dir + " directory does not exist.")
+        print("Aborting...")
+        return True
+
+def find_subdirectory(main_directory, subdirectory, parent = None):
+    for root, dirs, files in os.walk(main_directory):
+        for dir in dirs:
+            if dir == subdirectory:
+                dir_parent = root.split('\\')[-1]
+                if parent is None or dir_parent == parent:
+                    return os.path.join(root, subdirectory)
+    return ""
+
+def check_dictionary_type(dictionary, key, type):
+    if not key in dictionary:
+        raise Exception(f"No {key} found")
+    if not isinstance(dictionary[key], type):
+        raise Exception(f"Invalid {key}")
+
+def parse_instructions(dictionary, source_directory, target_directory):
+    check_dictionary_type(dictionary, "subdirectories_to_copy", list)
+    subdirectories_to_copy = dictionary["subdirectories_to_copy"]
+
+    # loop over the subdirectories
+    for subdirectory in subdirectories_to_copy:
+        parent = subdirectory["source_directory_parent"] if "source_directory_parent" in subdirectory else None
+        source_subdir = find_subdirectory(source_directory, subdirectory["source_directory"], parent)
+        target_subdir = find_subdirectory(target_directory, subdirectory["target_directory"])
+
+        copy_files(source_subdir, target_subdir, subdirectory["files"], True)
+    print(BIG_SECTION)
+
+def copy_files(source_dir, target_dir, file_selectors, overwrite):
+    if not (os.path.isdir(source_dir) and os.path.isdir(target_dir)):
+        raise Exception(f"""Invalid path given (Source: {source_dir}, Target: {target_dir}).
+        If target is empty, consider creating the empty directory in the desired destination before running the copier.""")
+    print(BIG_SECTION)
+    print(f"Copying files from {source_dir} to {target_dir}")
+    print(SECTION)
+    files_to_copy = []
+    for file_selector in file_selectors:
+        selected_files = glob.glob(os.path.join(source_dir, file_selector))
+        print(f"Selector {file_selector} matched with the following files: {selected_files}")
+        files_to_copy = files_to_copy + selected_files
+    files_to_copy = set(files_to_copy)
+    print(SECTION)
+    for source_file in files_to_copy:
+        file_basename = os.path.basename(source_file)
+        target_file = os.path.join(target_dir, file_basename)
+        if overwrite or (not os.path.exists(target_file)):
+            shutil.copy(source_file, target_file)
+            print(f"Copying  {file_basename} from {source_dir} to {target_dir}")
+        else:
+            print(f"Skipping {file_basename} from {source_dir} since overwriting is not allowed")
+        print("\n")
+
+def main():
+    parser = argparse.ArgumentParser(prog='The Copier',
+                                    description="The copier has the purpose to copy the code generated from Simulink to the proper board folder in icub-firmware ",
+                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument('source', help="Absolute path to the codegen directory within icub-firmware-models")
+    parser.add_argument('destination', help="Absolute path to the model-based-design directory within icub-firmware (for a specific board)")
+    parser.add_argument('path_to_directories_json', help="Absolute path to the directory containing the directories.json file")
+
+    args = parser.parse_args()
+    config = vars(args)
+
+    path_to_json = os.path.join(config['path_to_directories_json'], "directories.json")
+    path_to_src = config['source']
+    path_to_dst = config['destination']
+
+    # check if source and destination directories exist and are not empty
+    if not (is_empty(path_to_src) or is_empty(path_to_dst)):
+
+        # try to open the json configuration file
+        with open(path_to_json) as file:
+            json_instructions = json.load(file)
+
+        # start to parse and (eventually) to copy
+        parse_instructions(json_instructions, path_to_src, path_to_dst)
+    
+if __name__ == "__main__":
+    main()
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