diff --git a/yaml_templates/landmark/LandmarkPolyline2d.yaml b/yaml_templates/landmark/LandmarkPolyline2d.yaml
index 9ee511d330cee3041bcefc95ac10e4d87d756295..88c41e9b7f97b5c68e9ff093db34a45b4bbefa18 100644
--- a/yaml_templates/landmark/LandmarkPolyline2d.yaml
+++ b/yaml_templates/landmark/LandmarkPolyline2d.yaml
@@ -17,7 +17,7 @@ states:
       mode: "fix"  # DOC Can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
       factor_std: [0.0, 0.0]  # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the factor, i.e. the sqrt of the diagonal elements of the covariance matrix [m]. - TYPE Vector2d
   O:
-    value: [0.0]  # OPTIONAL - DOC A vector containing the orientation, yaw [rad]. - TYPE Vector1d
+    value: [0.0]  # DOC A vector containing the orientation, yaw [rad]. - TYPE Vector1d
     prior:
       mode: "fix"  # DOC It can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
       factor_std: [0.0]  # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the factor, i.e. the sqrt of the diagonal elements of the covariance matrix [rad]. - TYPE Vector1d
diff --git a/yaml_templates/processor/ProcessorLoopClosureFalko.yaml b/yaml_templates/processor/ProcessorLoopClosureFalko.yaml
index 5f56eff45b86f8911d790dd13b565c838e88b44c..c2ad7f53f50ccc518aaa2443bd8789d35e04343d 100644
--- a/yaml_templates/processor/ProcessorLoopClosureFalko.yaml
+++ b/yaml_templates/processor/ProcessorLoopClosureFalko.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/ProcessorLoopClosureFalkoIcp.yaml b/yaml_templates/processor/ProcessorLoopClosureFalkoIcp.yaml
index 637415f4de2adc224a083a6fd5904de8ebc15911..1b0a2b5b32772a7eb64f54a302026c34d1fe008d 100644
--- a/yaml_templates/processor/ProcessorLoopClosureFalkoIcp.yaml
+++ b/yaml_templates/processor/ProcessorLoopClosureFalkoIcp.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/ProcessorLoopClosureIcp.yaml b/yaml_templates/processor/ProcessorLoopClosureIcp.yaml
index e4073e6d8af602ffbd06d11b472b3bebdfb0ebe8..639fa305b375c7927fadf8bff89f7cc29537660a 100644
--- a/yaml_templates/processor/ProcessorLoopClosureIcp.yaml
+++ b/yaml_templates/processor/ProcessorLoopClosureIcp.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/ProcessorOdomIcp.yaml b/yaml_templates/processor/ProcessorOdomIcp.yaml
index 7e1226876a800c25e95ddb0d4d1a14df3a4ae7c4..f769bef00853a511fab15f8386625e68ad81a645 100644
--- a/yaml_templates/processor/ProcessorOdomIcp.yaml
+++ b/yaml_templates/processor/ProcessorOdomIcp.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
@@ -12,7 +13,7 @@ keyframe_vote:
   consecutive_invalid_icp_timeout: 0.0  # MANDATORY if $voting_active - DOC Sufficient condition: Max. amount of time (s) with consecutive invalid ICPs for voting a new keyframe in previous scan - TYPE double
 apply_loss_function: false  # DOC If the factors created by the processor have loss function. - TYPE bool
 state_provider: false  # DOC If the processor is used by the problem as provider of state. - TYPE bool
-state_provider_order: 0.0  # MANDATORY if $state_provider - DOC The order number of this processor when problem gets the state (only used if state_provider = true). Two processors cannot have the same priority (if so, when installing the second is increased). - TYPE double
+state_provider_order: 0  # MANDATORY if $state_provider - DOC The order number of this processor when problem gets the state (only used if state_provider = true). Two processors cannot have the same order number. - TYPE unsigned int
 initial_guess: "odom"  # DOC The initial guess of the tranformation given to ICP algorithm. It can be "zero" for zero initial guess, "odom" will compute the initial guess from the odometry sources and "state" will compute it from the state of the optimization. Recommended: "odom" (if there are other odometry sources). - TYPE string - OPTIONS [odom, state, zero]
 icp:
   verbose: false  # DOC prints debug messages - TYPE bool
diff --git a/yaml_templates/processor/ProcessorTrackerFeaturePolyline2d.yaml b/yaml_templates/processor/ProcessorTrackerFeaturePolyline2d.yaml
index 60e926e791dc7d56c873af56e2c4f2b089d7e6bc..3c4eb0fa3af854c0b78fa56e97ac4b853551b60a 100644
--- a/yaml_templates/processor/ProcessorTrackerFeaturePolyline2d.yaml
+++ b/yaml_templates/processor/ProcessorTrackerFeaturePolyline2d.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