diff --git a/robots-icebox/iCubAbuDhabi01/CMakeLists.txt b/robots-icebox/iCubAbuDhabi01/CMakeLists.txt
deleted file mode 100644
index d75b9be783..0000000000
--- a/robots-icebox/iCubAbuDhabi01/CMakeLists.txt
+++ /dev/null
@@ -1,13 +0,0 @@
-set(appname iCubAbuDhabi01)
-
-file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
-file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
-set(whatsleft firmwareUpdate.txt)
-
-yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(FILES ${whatsleft} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
diff --git a/robots-icebox/iCubAbuDhabi01/calibrators/head_calib.xml b/robots-icebox/iCubAbuDhabi01/calibrators/head_calib.xml
deleted file mode 100644
index f24772532f..0000000000
--- a/robots-icebox/iCubAbuDhabi01/calibrators/head_calib.xml
+++ /dev/null
@@ -1,73 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>    
-      
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator">        
-<xi:include href="../general.xml" />              
-        <group name="GENERAL">             
-            <param name="joints"> 6 </param>             
-            <param name="deviceName"> Head_Calibrator </param>         
-        </group>             
-
-<group name="HOME">          
-<param name="positionHome"> -40           0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>   
-
-<group name="CALIBRATION">   
- 
-<param name="calibrationType">            0             0             0             0             0             0             </param>       
-<param name="calibration1">               1333          1333          1333          600           500           500           </param>       
-<param name="calibration2">               40            40            40            -20           20            20            </param>       
-<param name="calibration3">               0             0             0             0             0             0             </param>    
-<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
-<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
-<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
-<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>   
-<param name="startupPosition">            0             0             0             0             0             0             </param>       
-<param name="startupVelocity">            10            10            10            10            10            10            </param>       
-<param name="startupMaxPwm">              1300          1300          1330          1300          1300          1300          </param>       
-<param name="startupPosThreshold">        2             2             180           2             180           180           </param>       
-</group>       
- 
-    
- 
-        <param name="CALIB_ORDER"> (0) (1) (2 3) (5) (4) </param>       
-  
-     
-        <action phase="startup" level="10" type="calibrate">           
-            <param name="target">head_mc_remapper</param>               
-        </action>            
- 
-        <action phase="interrupt1" level="1" type="park">              
-            <param name="target">head_mc_remapper</param>               
-        </action>            
- 
-        <action phase="interrupt3" level="1" type="abort" />           
- 
-    </device>  
-     
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
- 
diff --git a/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_left.ini b/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_left.ini
deleted file mode 100644
index b783d89bd5..0000000000
--- a/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_left.ini
+++ /dev/null
@@ -1,20 +0,0 @@
-device dragonfly2
-capabilities COLOR
-width 320
-height 240
-video_type 1
-white_balance 0.514 0.610 
-gain 0.0
-shutter 0.913
-name /icub/cam/left
-brightness 0
-DR2
-stamp
-sharpness 0.5
-hue 0.48
-gamma 0.4
-saturation 0.420
-framerate 30
-#d 0
-guid 00b09d010070ed88
-
diff --git a/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_left_bayer_320_240.ini b/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_left_bayer_320_240.ini
deleted file mode 100644
index 6834cf992a..0000000000
--- a/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_left_bayer_320_240.ini
+++ /dev/null
@@ -1,21 +0,0 @@
-device dragonfly2raw
-capabilities RAW
-width 320
-height 240
-video_type 3
-white_balance 0.477 0.514
-gain 0.0
-shutter 0.666
-name /icub/cam/left
-brightness 0
-DR2
-stamp 
-sharpness 1.0
-hue 0.48
-gamma 0.4
-saturation 0.271
-framerate 30
-use_network_time 1
-#d 0
-guid 00b09d010070ed88
-
diff --git a/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_left_bayer_640_480.ini b/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_left_bayer_640_480.ini
deleted file mode 100644
index 99802b8f09..0000000000
--- a/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_left_bayer_640_480.ini
+++ /dev/null
@@ -1,21 +0,0 @@
-device dragonfly2
-capabilities COLOR
-width 640
-height 480
-video_type 3
-white_balance 0.477 0.514 
-gain 0.0 
-shutter 0.666
-name /icub/cam/left  
-brightness 0
-DR2
-stamp
-sharpness 1.0
-hue 0.48
-gamma 0.4
-saturation 0.271
-framerate 30
-use_network_time 1
-#d 0
-guid 00b09d010070ed88
-
diff --git a/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_right.ini b/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_right.ini
deleted file mode 100644
index 8c49f50340..0000000000
--- a/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_right.ini
+++ /dev/null
@@ -1,20 +0,0 @@
-device dragonfly2
-capabilities COLOR
-width 320
-height 240
-video_type 1
-white_balance 0.514 0.610 
-gain 0.0
-shutter 0.913
-name /icub/cam/right
-brightness 0
-DR2
-stamp
-sharpness 0.5
-hue 0.48
-gamma 0.4
-saturation 0.420
-framerate 30
-#d 1
-guid 00b09d010070ed89
-
diff --git a/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_right_bayer_320_240.ini b/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_right_bayer_320_240.ini
deleted file mode 100644
index 8384320700..0000000000
--- a/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_right_bayer_320_240.ini
+++ /dev/null
@@ -1,21 +0,0 @@
-device dragonfly2
-capabilities COLOR
-width 640
-height 480
-video_type 3
-white_balance 0.477 0.514
-gain 0.0
-shutter 0.666
-name /icub/cam/right
-brightness 0
-DR2
-stamp 
-sharpness 1.0
-hue 0.48
-gamma 0.4
-saturation 0.271
-framerate 30
-use_network_time 1
-#d 1
-guid 00b09d010070ed89
-
diff --git a/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_right_bayer_640_480.ini b/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_right_bayer_640_480.ini
deleted file mode 100644
index 8384320700..0000000000
--- a/robots-icebox/iCubAbuDhabi01/camera/dragonfly2_config_right_bayer_640_480.ini
+++ /dev/null
@@ -1,21 +0,0 @@
-device dragonfly2
-capabilities COLOR
-width 640
-height 480
-video_type 3
-white_balance 0.477 0.514
-gain 0.0
-shutter 0.666
-name /icub/cam/right
-brightness 0
-DR2
-stamp 
-sharpness 1.0
-hue 0.48
-gamma 0.4
-saturation 0.271
-framerate 30
-use_network_time 1
-#d 1
-guid 00b09d010070ed89
-
diff --git a/robots-icebox/iCubAbuDhabi01/firmwareUpdate.txt b/robots-icebox/iCubAbuDhabi01/firmwareUpdate.txt
deleted file mode 100644
index 14002fa9bb..0000000000
--- a/robots-icebox/iCubAbuDhabi01/firmwareUpdate.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-// head 
-cfw2can 0 1 4DC.1.11.out.S
-cfw2can 0 3 4DC.1.15.out.S
-
-
-
-
-
-
diff --git a/robots-icebox/iCubAbuDhabi01/firmwareupdater.ini b/robots-icebox/iCubAbuDhabi01/firmwareupdater.ini
deleted file mode 100644
index 57368b95ea..0000000000
--- a/robots-icebox/iCubAbuDhabi01/firmwareupdater.ini
+++ /dev/null
@@ -1,2 +0,0 @@
-[DRIVERS]
-CFW2_CAN "0"
diff --git a/robots-icebox/iCubAbuDhabi01/general.xml b/robots-icebox/iCubAbuDhabi01/general.xml
deleted file mode 100644
index c0ef65f198..0000000000
--- a/robots-icebox/iCubAbuDhabi01/general.xml
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-
-<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="iCubAbuDhabi01" build="1">
-  
-  <group name="GENERAL">
-      <param name="skipCalibration">    false  </param>
-      <param name="useRawEncoderData">  false  </param>
-      <param name="useLimitedPWM">      false  </param>
-      <param name="verbose">            false  </param>
-  </group>
-</params>
diff --git a/robots-icebox/iCubAbuDhabi01/hardware/inertials/head-inertial.xml b/robots-icebox/iCubAbuDhabi01/hardware/inertials/head-inertial.xml
deleted file mode 100644
index f6bb287849..0000000000
--- a/robots-icebox/iCubAbuDhabi01/hardware/inertials/head-inertial.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-
-<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-inertial" type="xsensmtx">
-      <param name="serial">  /dev/ttyS0   </param>
-</device>
-
-
diff --git a/robots-icebox/iCubAbuDhabi01/hardware/motorControl/icub_head.xml b/robots-icebox/iCubAbuDhabi01/hardware/motorControl/icub_head.xml
deleted file mode 100644
index 4b95b9d56c..0000000000
--- a/robots-icebox/iCubAbuDhabi01/hardware/motorControl/icub_head.xml
+++ /dev/null
@@ -1,87 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>    
-      
-  <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_mc" type="canmotioncontrol">        
-<xi:include href="../../general.xml" />     
-         
-<group name="CAN">           
-<param name="canbusdevice"> sharedcan     </param>       
-<param name="physDevice">   cfw2can       </param>       
-<param name="CanAddresses"> 1 2 3         </param>       
-<param name="CanDeviceNum"> 0             </param>       
-<param name="NetworkId">                  HEAD          </param>       
-<param name="CanMyAddress"> 0             </param>       
-<param name="CanPollingInterval">         10            </param>       
-<param name="CanTimeout">   500           </param>       
-<param name="CanTxTimeout"> 500           </param>       
-<param name="CanRxTimeout"> 500           </param>     
-<param name="broadcast_pos">              1             1             1             1             1             1             </param>       
-<param name="broadcast_pid">              0             0             0             0             0             0             </param>       
-<param name="broadcast_fault">            1             1             1             1             1             1             </param>       
-<param name="broadcast_current">          0             0             0             0             0             0             </param>       
-<param name="broadcast_overflow">         1             1             1             1             1             1             </param>       
-<param name="broadcast_canprint">         1             1             1             1             1             1             </param>       
-<param name="broadcast_vel_acc">          0             0             0             0             0             0             </param>       
-<param name="broadcast_rotor_pos">        0             0             0             0             0             0             </param>       
-<param name="broadcast_rotor_vel_acc">    0             0             0             0             0             0             </param>       
-</group>       
- 
- 
-<group name="GENERAL">       
-<param name="Joints">       6             </param>       
-<param name="AxisMap">      0             1             2             3             4             5             </param>
-<param name="AxisName"> "neck_pitch"  "neck_roll"   "neck_yaw"    "eyes_tilt"   "eyes_version" "eyes_vergence"  </param>
-<param name="AxisType">  "revolute"   "revolute"    "revolute"    "revolute"    "revolute"     "revolute"       </param>     
-<param name="Encoder">	-1951.29	-1951.29	-1399.46	-1093.33	-586.66	293.33		</param>
-<param name="Zeros">  	    45	          49	        53.0	     -38.4	    40.3	  0	 	</param>
-<param name="TorqueId">     0             0             0             0             0             0             </param>       
-<param name="TorqueChan">   0             0             0             0             0             0             </param>       
-<param name="TorqueMax">    0             0             0             0             0             0             </param>       
-<param name="Verbose">      0             0             0             0             0             0             </param>       
-<param name="Rotor">        1             1             1             1             1             1             </param>       
-<param name="GearBox">      1             1             1             1             1             1             </param>   
-<param name="fullscalePWM">           1333            1333         1333      1333     1333    1333              </param>    
-<param name="ampsToSensor">           1000.0          1000.0       1000.0    1000.0   1000.0  1000.0            </param>
-</group>       
- 
-<group name="VELOCITY">      
-<param name="MOT_speed_estimation">       1             1             1             1             1             1             </param>       
-<param name="MOT_accel_estimation">       1             1             1             1             1             1             </param>       
-<param name="JNT_accel_estimation">       5             5             5             5             5             5             </param>       
-<param name="JNT_speed_estimation">       5             5             5             5             5             5             </param>       
-<param name="Shifts">                     8             8             8             8             8             8             </param>       
-<param name="Timeout">                    100           100           100           100           100           100           </param>       
-</group>       
- 
-<group name="LIMITS">        
-<param name="jntPosMin">              -20           -20           -50           -44           -30           0             </param>       
-<param name="jntPosMax">               10            20            50            19            30           50            </param>       
-<param name="motorOverloadCurrents">   800           800           800           485           485          485           </param> 
-<param name="motorPwmLimit">           1333	     1333          1333          1333          1333         1333          </param>     
-</group>       
- 
-<group name="POS_PIDS">      
-<param name="kp">           50            50            100           40            100           100           </param>       
-<param name="kd">           500           500           700           400           1000          1000          </param>       
-<param name="ki">           1             1             2             1             10            10            </param>       
-<param name="maxOutput">       1333          1333          1333          1333          1333          1333          </param>       
-<param name="maxInt">       1333          1333          1333          1333          1333          1333          </param>       
-<param name="shift">        4             4             4             4             4             4             </param>       
-<param name="ko">           0             0             0             0             0             0             </param>       
-<param name="stictionUp">   0             0             0             0             0             0             </param>       
-<param name="stictionDwn">  0             0             0             0             0             0             </param>       
-</group>       
- 
-<group name="TRQ_PIDS">      
-<param name="kp">           0             0             0             0             0             0             </param>       
-<param name="kd">           0             0             0             0             0             0             </param>       
-<param name="ki">           0             0             0             0             0             0             </param>       
-<param name="maxOutput">       0             0             0             0             0             0             </param>       
-<param name="maxInt">       0             0             0             0             0             0             </param>       
-<param name="shift">        0             0             0             0             0             0             </param>       
-<param name="ko">           0             0             0             0             0             0             </param>       
-<param name="stictionUp">   0             0             0             0             0             0             </param>       
-<param name="stictionDwn">  0             0             0             0             0             0             </param>       
-</group>       
- 
-  </device>    
-     
diff --git a/robots-icebox/iCubAbuDhabi01/iCub_Calibration.xls b/robots-icebox/iCubAbuDhabi01/iCub_Calibration.xls
deleted file mode 100644
index 6e127992bc..0000000000
Binary files a/robots-icebox/iCubAbuDhabi01/iCub_Calibration.xls and /dev/null differ
diff --git a/robots-icebox/iCubAbuDhabi01/iKinGazeCtrl.ini b/robots-icebox/iCubAbuDhabi01/iKinGazeCtrl.ini
deleted file mode 100644
index c33eec5098..0000000000
--- a/robots-icebox/iCubAbuDhabi01/iKinGazeCtrl.ini
+++ /dev/null
@@ -1,10 +0,0 @@
-head_version v1.0
-saccades off
-torso off
-
-[cameras]
-context   cameraCalibration
-file      icubEyes.ini
-
-[imu]
-source_port_name /imuFilter
diff --git a/robots-icebox/iCubAbuDhabi01/icubEyes.ini b/robots-icebox/iCubAbuDhabi01/icubEyes.ini
deleted file mode 100644
index 04e264b6ad..0000000000
--- a/robots-icebox/iCubAbuDhabi01/icubEyes.ini
+++ /dev/null
@@ -1,40 +0,0 @@
-[CAMERA_CALIBRATION_RIGHT]
-projection         pinhole
-drawCenterCross    0
-
-w 320
-h 240
-fx 217.878
-fy 218.058
-cx 174.55
-cy 130.306
-k1 -0.409119
-k2 0.155293
-p1 0.000231379
-p2 -0.00468081
-
-[CAMERA_CALIBRATION_LEFT]
-projection         pinhole
-drawCenterCross    0
-
-w 320
-h 240
-fx 221.045
-fy 220.894
-cx 163.713
-cy 115.808
-k1 -0.364935
-k2 0.123069
-p1 0.000974915
-p2 -0.000583483
-
-[STEREO_CALIBRATION_CONFIGURATION]
-boardWidth 8
-boardHeight 6
-boardSize 0.09241
-numberOfPairs 30
-
-[STEREO_DISPARITY]
-HN (0.999322 -0.0112121 -0.0350689 -0.070484 0.010871 0.999892 -0.00990243 -0.00396789 0.0351761 0.00951449 0.999336 -0.00342919 0 0 0 1)
-QL ( 0.000000	 0.000000	 0.000000	-0.000000	-0.000002	 0.000002	-0.000002	 0.000029)
-QR ( 0.000000	 0.000000	 0.000000	-0.000000	-0.000002	 0.000002	-0.000002	 0.000029)
diff --git a/robots-icebox/iCubAbuDhabi01/icub_all.xml b/robots-icebox/iCubAbuDhabi01/icub_all.xml
deleted file mode 100644
index 9d1f079330..0000000000
--- a/robots-icebox/iCubAbuDhabi01/icub_all.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-<robot name="iCubAbuDhabi01" xmlns:xi="http://www.w3.org/2001/XInclude">
-
-<devices>
-    <!-- motor controllers wrappers -->
-    <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
-    <xi:include href="hardware/motorControl/icub_head.xml" />
-
-
-    <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
-    <xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
-    <xi:include href="wrappers/inertials/head-imuFilter.xml" />
-    <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
-    <xi:include href="hardware/inertials/head-inertial.xml" />
-
-    <!-- CALIBRATORS -->
-    <xi:include href="calibrators/head_calib.xml" />
-</devices>
-</robot>
-
diff --git a/robots-icebox/iCubAbuDhabi01/wrappers/inertials/head-imuFilter.xml b/robots-icebox/iCubAbuDhabi01/wrappers/inertials/head-imuFilter.xml
deleted file mode 100644
index 9070dff156..0000000000
--- a/robots-icebox/iCubAbuDhabi01/wrappers/inertials/head-imuFilter.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?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="head-imuFilter" type="imuFilter">
-        <param name="period">       20                  </param>
-        <param name="name">     /imuFilter              </param>
-
-
-        <action phase="startup" level="5" type="attach">
-            <paramlist name="networks">
-                <!-- The name of the element can be any string (we use SetOfIMUs to better express its nature).
-                     Its value must match the device name in the corresponding body_part-jx_y-inertials.xml file
-                     or in body_part-ebX-inertials.xml -->
-                <elem name="SetOfIMUs"> head-inertial</elem>
-            </paramlist>
-        </action>
-
-        <action phase="shutdown" level="5" type="detach" />
-    </device>
diff --git a/robots-icebox/iCubAbuDhabi01/wrappers/inertials/head-imuFilter_wrapper.xml b/robots-icebox/iCubAbuDhabi01/wrappers/inertials/head-imuFilter_wrapper.xml
deleted file mode 100644
index 840c87bab1..0000000000
--- a/robots-icebox/iCubAbuDhabi01/wrappers/inertials/head-imuFilter_wrapper.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?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="head-imuFilter_wrapper" type="multipleanalogsensorsserver">
-        <param name="period">       20                  </param>
-        <param name="name">     /imuFilter              </param>
-
-
-        <action phase="startup" level="6" type="attach">
-            <paramlist name="networks">
-                <!-- The name of the element can be any string (we use SetOfIMUs to better express its nature).
-                     Its value must match the device name in the corresponding body_part-jx_y-inertials.xml file
-                     or in body_part-ebX-inertials.xml -->
-                <elem name="SetOfIMUs"> head-imuFilter </elem>
-            </paramlist>
-        </action>
-
-        <action phase="shutdown" level="6" type="detach" />
-    </device>
diff --git a/robots-icebox/iCubAbuDhabi01/wrappers/inertials/head-inertials_wrapper.xml b/robots-icebox/iCubAbuDhabi01/wrappers/inertials/head-inertials_wrapper.xml
deleted file mode 100644
index ab266c8715..0000000000
--- a/robots-icebox/iCubAbuDhabi01/wrappers/inertials/head-inertials_wrapper.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?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="head-inertials_wrapper" type="multipleanalogsensorsserver">
-        <param name="period">       10                  </param>
-        <param name="name">     /icub/head/inertials       </param>
-
-
-        <action phase="startup" level="5" type="attach">
-            <paramlist name="networks">
-                <!-- The name of the element can be any string (we use SetOfIMUs to better express its nature).
-                     Its value must match the device name in the corresponding body_part-jx_y-inertials.xml file
-                     or in body_part-ebX-inertials.xml -->
-                <elem name="SetOfIMUs"> head-inertial </elem>
-            </paramlist>
-        </action>
-
-        <action phase="shutdown" level="5" type="detach" />
-    </device> 
diff --git a/robots-icebox/iCubAbuDhabi01/wrappers/motorControl/head-mc_remapper.xml b/robots-icebox/iCubAbuDhabi01/wrappers/motorControl/head-mc_remapper.xml
deleted file mode 100644
index b3327e6dca..0000000000
--- a/robots-icebox/iCubAbuDhabi01/wrappers/motorControl/head-mc_remapper.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<?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="head_mc_remapper" type="controlboardremapper">
-    <paramlist name="networks">
-        <elem name="head_joints">(  0  5  0  5 )</elem>
-    </paramlist>
-    <param name="joints"> 6                   </param>
-    <action phase="startup" level="5" type="attach">
-        <paramlist name="networks">
-            <elem name="head_joints">  head_mc </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="20" type="detach" />
-</device>
diff --git a/robots-icebox/iCubAbuDhabi01/wrappers/motorControl/head-mc_wrapper.xml b/robots-icebox/iCubAbuDhabi01/wrappers/motorControl/head-mc_wrapper.xml
deleted file mode 100644
index ef0c98c153..0000000000
--- a/robots-icebox/iCubAbuDhabi01/wrappers/motorControl/head-mc_wrapper.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<?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="head_mc_nws_yarp" type="controlBoard_nws_yarp">
-    <param name="period"> 0.01  </param>
-    <param name="name"> /icub/head   </param>
-    <action phase="startup" level="10" type="attach">
-            <param name="device">  head_mc_remapper </param>
-    </action>
-    <action phase="shutdown" level="15" type="detach" />
-</device>
diff --git a/robots-icebox/iCubAbuDhabi01/yarprobotinterface.ini b/robots-icebox/iCubAbuDhabi01/yarprobotinterface.ini
deleted file mode 100644
index b970b6bdab..0000000000
--- a/robots-icebox/iCubAbuDhabi01/yarprobotinterface.ini
+++ /dev/null
@@ -1,2 +0,0 @@
-config ./icub_all.xml
-