diff --git a/yaml_templates/processor/ProcessorCompass.yaml b/yaml_templates/processor/ProcessorCompass.yaml
index d74b27af85c43b3bcf91f7f643f7277d51bd9a29..93c6b423aa474bca25c03b6317471a0db3626254 100644
--- a/yaml_templates/processor/ProcessorCompass.yaml
+++ b/yaml_templates/processor/ProcessorCompass.yaml
@@ -1,6 +1,7 @@
 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+sensor_name: "whatever"  # DOC The name of the sensor corresponding to this processor. - TYPE string
 time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
 keyframe_vote:
   voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
diff --git a/yaml_templates/processor/ProcessorImu2d.yaml b/yaml_templates/processor/ProcessorImu2d.yaml
index cb3360683d465195c881a66a3aea8fec31e8dab4..15ad04253bda22b60caf5bd5bc93204a38ca457e 100644
--- a/yaml_templates/processor/ProcessorImu2d.yaml
+++ b/yaml_templates/processor/ProcessorImu2d.yaml
@@ -1,6 +1,7 @@
 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+sensor_name: "whatever"  # DOC The name of the sensor corresponding to this processor. - TYPE string
 time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
 keyframe_vote:
   voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
diff --git a/yaml_templates/processor/ProcessorImu2dTester.yaml b/yaml_templates/processor/ProcessorImu2dTester.yaml
index cb3360683d465195c881a66a3aea8fec31e8dab4..15ad04253bda22b60caf5bd5bc93204a38ca457e 100644
--- a/yaml_templates/processor/ProcessorImu2dTester.yaml
+++ b/yaml_templates/processor/ProcessorImu2dTester.yaml
@@ -1,6 +1,7 @@
 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+sensor_name: "whatever"  # DOC The name of the sensor corresponding to this processor. - TYPE string
 time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
 keyframe_vote:
   voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
diff --git a/yaml_templates/processor/ProcessorImu3d.yaml b/yaml_templates/processor/ProcessorImu3d.yaml
index fc213f9ae98248b6e88db2acac10bf4320de38dd..c2382b77110a3f3601407261431b896802edff20 100644
--- a/yaml_templates/processor/ProcessorImu3d.yaml
+++ b/yaml_templates/processor/ProcessorImu3d.yaml
@@ -1,6 +1,7 @@
 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+sensor_name: "whatever"  # DOC The name of the sensor corresponding to this processor. - TYPE string
 time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
 keyframe_vote:
   voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
diff --git a/yaml_templates/processor/ProcessorImu3dTester.yaml b/yaml_templates/processor/ProcessorImu3dTester.yaml
index fc213f9ae98248b6e88db2acac10bf4320de38dd..c2382b77110a3f3601407261431b896802edff20 100644
--- a/yaml_templates/processor/ProcessorImu3dTester.yaml
+++ b/yaml_templates/processor/ProcessorImu3dTester.yaml
@@ -1,6 +1,7 @@
 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+sensor_name: "whatever"  # DOC The name of the sensor corresponding to this processor. - TYPE string
 time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
 keyframe_vote:
   voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
diff --git a/yaml_templates/sensor/SensorCompass.yaml b/yaml_templates/sensor/SensorCompass.yaml
index 18eb5f6d200a14736d423bb4eaf2190c2e9ecd32..937130e37263de953e669d5f6f2270984e7abdb9 100644
--- a/yaml_templates/sensor/SensorCompass.yaml
+++ b/yaml_templates/sensor/SensorCompass.yaml
@@ -1,6 +1,7 @@
 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The sensor"s name. It has to be unique. - TYPE string
+enabled: true  # OPTIONAL - DOC Whether the sensor is enabled or not. If not, captures will not be processed when calling process(). - TYPE bool
 stdev_noise: 0.0  # DOC standard deviation of the compass measurements (square root of the covariance matrix diagonal). - TYPE double
 states:
   P:
diff --git a/yaml_templates/sensor/SensorImu2d.yaml b/yaml_templates/sensor/SensorImu2d.yaml
index 38007dc301b33f9a529f0577e8d8352515b29b71..e2e58b3a26e1125235a4896c9fa518b94778ec3d 100644
--- a/yaml_templates/sensor/SensorImu2d.yaml
+++ b/yaml_templates/sensor/SensorImu2d.yaml
@@ -1,16 +1,11 @@
 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The sensor"s name. It has to be unique. - TYPE string
+enabled: true  # OPTIONAL - DOC Whether the sensor is enabled or not. If not, captures will not be processed when calling process(). - TYPE bool
 w_noise: 0.0  # DOC standard deviation of the gyroscope measurements (square root of the covariance matrix diagonal). - TYPE double
 a_noise: 0.0  # DOC standard deviation of the accelerometer measurements (square root of the covariance matrix diagonal). - TYPE double
 orthogonal_gravity: false  # DOC If the gravity is orthogonal to Z axis (i.e. it is measured by accelerometers X and Y) - TYPE bool
 states:
-  P:
-    prior:
-      {}
-  O:
-    prior:
-      {}
   I:
     dynamic: false  # DOC If the bias are dynamic, i.e. they change along time. - TYPE bool
     value: [0, 0, 0]  # OPTIONAL - DOC A vector containing the IMU 2d bias values. Default: zeros - TYPE Vector3d
diff --git a/yaml_templates/sensor/SensorImu3d.yaml b/yaml_templates/sensor/SensorImu3d.yaml
index ac93bd90919ff601479352e0e17700d511dfdb2e..22654efb3a5078867733772f7bcf816d2d400acc 100644
--- a/yaml_templates/sensor/SensorImu3d.yaml
+++ b/yaml_templates/sensor/SensorImu3d.yaml
@@ -1,15 +1,10 @@
 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The sensor"s name. It has to be unique. - TYPE string
+enabled: true  # OPTIONAL - DOC Whether the sensor is enabled or not. If not, captures will not be processed when calling process(). - TYPE bool
 w_noise: 0.0  # DOC standard deviation of the gyroscope measurements (square root of the covariance matrix diagonal). - TYPE double
 a_noise: 0.0  # DOC standard deviation of the accelerometer measurements (square root of the covariance matrix diagonal). - TYPE double
 states:
-  P:
-    prior:
-      {}
-  O:
-    prior:
-      {}
   I:
     dynamic: false  # DOC If the bias are dynamic, i.e. they change along time. - TYPE bool
     value: [0, 0, 0, 0, 0, 0]  # OPTIONAL - DOC A vector containing the IMU bias values. Default: zeros - TYPE Vector6d