diff --git a/demos/sensor_imu.yaml b/demos/sensor_imu.yaml
index 66b81a5288877362753612f7aa4b9222da009e8d..f23c69b9faefec85b31bb3fa941ea6f96af1a88a 100644
--- a/demos/sensor_imu.yaml
+++ b/demos/sensor_imu.yaml
@@ -1,5 +1,5 @@
-sensor type: "IMU"             # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-sensor name: "Main IMU"        # This is ignored. The name provided to the SensorFactory prevails
+type: "IMU"             # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+name: "Main IMU"        # This is ignored. The name provided to the SensorFactory prevails
 motion variances: 
     a_noise:                0.053     # standard deviation of Acceleration noise (same for all the axis) in m/s2
     w_noise:                0.0011    # standard deviation of Gyroscope noise (same for all the axis) in rad/sec
diff --git a/demos/sensor_odom_3D.yaml b/demos/sensor_odom_3D.yaml
index 9ea77803548cfd9d033f54e40b6d92a72710afb8..17fa1cb74e1feded46330a2a5e6835c4dbf4b609 100644
--- a/demos/sensor_odom_3D.yaml
+++ b/demos/sensor_odom_3D.yaml
@@ -1,5 +1,5 @@
-sensor type: "ODOM 3D"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-sensor name: "Main odometer"        # This is ignored. The name provided to the SensorFactory prevails
+type: "ODOM 3D"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+name: "Main odometer"        # This is ignored. The name provided to the SensorFactory prevails
 motion variances: 
     disp_to_disp:   0.02  # m^2   / m
     disp_to_rot:    0.02  # rad^2 / m
diff --git a/demos/sensor_odom_3D_HQ.yaml b/demos/sensor_odom_3D_HQ.yaml
index 08945ef842e46f28642f1be63ca95850b618a35e..c5e5b7271ee7ad70abec6a982e5cf9654b3af2b7 100644
--- a/demos/sensor_odom_3D_HQ.yaml
+++ b/demos/sensor_odom_3D_HQ.yaml
@@ -1,5 +1,5 @@
-sensor type: "ODOM 3D"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-sensor name: "Main odometer"        # This is ignored. The name provided to the SensorFactory prevails
+type: "ODOM 3D"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+name: "Main odometer"        # This is ignored. The name provided to the SensorFactory prevails
 motion variances: 
     disp_to_disp:   0.000001  # m^2   / m
     disp_to_rot:    0.000001  # rad^2 / m
diff --git a/test/yaml/processor_odom_3D.yaml b/test/yaml/processor_odom_3D.yaml
index f501e333800ec1bbb4b7c751a32aa67a99bec74c..7929a29801c25a22667c3278d26c5a4f910eb755 100644
--- a/test/yaml/processor_odom_3D.yaml
+++ b/test/yaml/processor_odom_3D.yaml
@@ -1,8 +1,7 @@
-processor type: "ODOM 3D"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main odometer"        # This is ignored. The name provided to the SensorFactory prevails
 time tolerance:         0.01  # seconds
 keyframe vote:
     max time span:      0.2   # seconds
     max buffer length:  10    # motion deltas
     dist traveled:      0.5   # meters
-    angle turned:       0.1   # radians (1 rad approx 57 deg, approx 60 deg)
\ No newline at end of file
+    angle turned:       0.1   # radians (1 rad approx 57 deg, approx 60 deg)type: "ODOM 3D"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+name: "Main odometer"        # This is ignored. The name provided to the SensorFactory prevails
diff --git a/test/yaml/sensor_odom_3D.yaml b/test/yaml/sensor_odom_3D.yaml
index 9ea77803548cfd9d033f54e40b6d92a72710afb8..4cc241e8476dcdc672fb188d5f0de31651700269 100644
--- a/test/yaml/sensor_odom_3D.yaml
+++ b/test/yaml/sensor_odom_3D.yaml
@@ -1,6 +1,6 @@
-sensor type: "ODOM 3D"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-sensor name: "Main odometer"        # This is ignored. The name provided to the SensorFactory prevails
 motion variances: 
+type: "ODOM 3D"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+name: "Main odometer"        # This is ignored. The name provided to the SensorFactory prevails
     disp_to_disp:   0.02  # m^2   / m
     disp_to_rot:    0.02  # rad^2 / m
     rot_to_rot:     0.01  # rad^2 / rad