diff --git a/schema/map/MapBase.schema b/schema/map/MapBase.schema
index 8b2f4f7562e55b3563f6fea22762f7744f91b070..0b8f4dafc65e225cee0edd5e21910e2cec3585dd 100644
--- a/schema/map/MapBase.schema
+++ b/schema/map/MapBase.schema
@@ -1,12 +1,10 @@
 type:
   mandatory: false
   type: string
-  yaml_type: scalar
   default: MapBase
   doc: Type of the Map used in the problem.
 plugin:
   mandatory: false
   type: string
-  yaml_type: scalar
   default: core
   doc: Name of the wolf plugin where the map type is implemented.
\ No newline at end of file
diff --git a/schema/problem/Problem.schema b/schema/problem/Problem.schema
index 7b24224127a6efef1b12f83ec451026f897f2210..3355230bc4a9535f7ef3873b89ab80b816d3f8fe 100644
--- a/schema/problem/Problem.schema
+++ b/schema/problem/Problem.schema
@@ -2,11 +2,9 @@ problem:
   tree_manager:
     type: derived
     base: TreeManagerBase.schema
-    yaml_type: scalar
     mandatory: true
     doc: Tree manager parameters
   dimension:
-    yaml_type: scalar
     type: int
     mandatory: true
     options: [2, 3]
@@ -14,18 +12,15 @@ problem:
 map:
   type: derived
   base: MapBase.schema
-  yaml_type: scalar
   mandatory: false
   doc: The map used in the wolf problem.
 sensors:
-  yaml_type: sequence
-  type: derived
+  type: derived[]
   base: SensorSequence.schema
   mandatory: true
   doc: A sequence of all the sensors.
 processors:
-  yaml_type: sequence
-  type: derived
+  type: derived[]
   base: ProcessorSequence.schema
   mandatory: true
   doc: A sequence of all the processors.
diff --git a/schema/problem/SpecState.schema b/schema/problem/SpecState.schema
index da8eaad3a865ba5091cf91356b03520b36c500f2..e3e9a75493f259a1a013f3dbcfc43d2ec4e7bf64 100644
--- a/schema/problem/SpecState.schema
+++ b/schema/problem/SpecState.schema
@@ -1,22 +1,18 @@
 type:
   type: string
-  yaml_type: scalar
   mandatory: true
   doc: The derived type of the StateBlock
 state:
   type: VectorXd
-  yaml_type: scalar
   mandatory: true
   doc: A vector containing the state values
 mode:
   type: string
-  yaml_type: scalar
   mandatory: true
   options: ["fix", "factor", "initial_guess"]
   doc: The prior mode can be 'factor' to add an absolute factor (requires 'noise_std'), 'fix' to set the values constant or 'initial_guess' to just set the values
 noise_std:
   type: VectorXd
-  yaml_type: scalar
   mandatory: false
   default: []
   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.
\ No newline at end of file
diff --git a/schema/problem/SpecStateO2d.schema b/schema/problem/SpecStateO2d.schema
index 321c4eaf9ef1c1383de33b656aceeb34398e501d..f578fde61cc2f354e0670ca3ba6805ff569ada90 100644
--- a/schema/problem/SpecStateO2d.schema
+++ b/schema/problem/SpecStateO2d.schema
@@ -1,13 +1,11 @@
 follow: SpecState.schema
 type:
   type: string
-  yaml_type: scalar
   mandatory: false
   default: StateAngle
   options: [StateAngle]
   doc: The derived type of the StateBlock
 state:
   type: Vector1d
-  yaml_type: scalar
   mandatory: true
   doc: A vector containing the state values
\ No newline at end of file
diff --git a/schema/problem/SpecStateO3d.schema b/schema/problem/SpecStateO3d.schema
index deb47e1f884354474665cd26beb53e8a85483370..803c6bed7c5c42088d813d960c9217c640ad8979 100644
--- a/schema/problem/SpecStateO3d.schema
+++ b/schema/problem/SpecStateO3d.schema
@@ -1,13 +1,11 @@
 follow: SpecState.schema
 type:
   type: string
-  yaml_type: scalar
   mandatory: false
   default: StateQuaternion
   options: [StateQuaternion]
   doc: The derived type of the State in 'O'
 state:
   type: Vector4d
-  yaml_type: scalar
   mandatory: true
   doc: A vector containing the state values. It should be a quaternion (i.e. four values and normalized)
\ No newline at end of file
diff --git a/schema/problem/SpecStateP2d.schema b/schema/problem/SpecStateP2d.schema
index 44227445621cce38bdea2353e0f0c5792892131a..a6465f8452f0ab54aa4345e44c36f615fe62cdb2 100644
--- a/schema/problem/SpecStateP2d.schema
+++ b/schema/problem/SpecStateP2d.schema
@@ -1,13 +1,11 @@
 follow: SpecState.schema
 type:
   type: string
-  yaml_type: scalar
   mandatory: false
   default: StatePoint2d
   options: [StatePoint2d]
   doc: The derived type of the StateBlock
 state:
   type: Vector2d
-  yaml_type: scalar
   mandatory: true
   doc: A vector containing the state values
\ No newline at end of file
diff --git a/schema/problem/SpecStateP3d.schema b/schema/problem/SpecStateP3d.schema
index 6f1f0c173ce87655627020a15cd1f602c7c8fe13..e7c9d9509c251403b618ac19f36e1a9d1ea89c51 100644
--- a/schema/problem/SpecStateP3d.schema
+++ b/schema/problem/SpecStateP3d.schema
@@ -1,13 +1,11 @@
 follow: SpecState.schema
 type:
   type: string
-  yaml_type: scalar
   mandatory: false
   default: StatePoint3d
   options: [StatePoint3d]
   doc: The derived type of the state in 'P'
 state:
   type: Vector3d
-  yaml_type: scalar
   mandatory: true
   doc: A vector containing the state 'P' values
\ No newline at end of file
diff --git a/schema/problem/SpecStateV2d.schema b/schema/problem/SpecStateV2d.schema
index c76380cbd782d979372728bc8863f6113fe855a2..9ff77d35de43558acf1983c6f29b957539a1e4a4 100644
--- a/schema/problem/SpecStateV2d.schema
+++ b/schema/problem/SpecStateV2d.schema
@@ -1,13 +1,11 @@
 follow: SpecState.schema
 type:
   type: string
-  yaml_type: scalar
   mandatory: false
   default: StateVector2d
   options: [StateVector2d]
   doc: The derived type of the StateBlock
 state:
   type: Vector2d
-  yaml_type: scalar
   mandatory: true
   doc: A vector containing the state values
\ No newline at end of file
diff --git a/schema/problem/SpecStateV3d.schema b/schema/problem/SpecStateV3d.schema
index 2c3109ae89e77e04024c80e40b1efad483920d06..99d34bf559f54a5509bed93ff37cd3bc6c455203 100644
--- a/schema/problem/SpecStateV3d.schema
+++ b/schema/problem/SpecStateV3d.schema
@@ -1,13 +1,11 @@
 follow: SpecState.schema
 type:
   type: string
-  yaml_type: scalar
   mandatory: false
   default: StateVector3d
   options: [StateVector3d]
   doc: The derived type of the state in 'V'
 state:
   type: Vector3d
-  yaml_type: scalar
   mandatory: true
   doc: A vector containing the state 'V' values
\ No newline at end of file
diff --git a/schema/processor/MotionProvider.schema b/schema/processor/MotionProvider.schema
index 6fe9328c13e54e6725f2c4b0dab2c4b5acbf671e..eaa5d84cc4a70c6171aab67cf2f2d839de1aa923 100644
--- a/schema/processor/MotionProvider.schema
+++ b/schema/processor/MotionProvider.schema
@@ -1,10 +1,8 @@
 state_provider:
   mandatory: true
-  yaml_type: scalar
   type: bool
   doc: If the processor is used by the problem as provider of state.
 state_provider_order:
   mandatory: false
-  yaml_type: scalar
   type: double
   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).
\ No newline at end of file
diff --git a/schema/processor/ProcessorBase.schema b/schema/processor/ProcessorBase.schema
index 0d33f7357bd2333494ff59c763ff3530c9d8da77..c7b855d90e2df428acb441b3d57c0399575e4293 100644
--- a/schema/processor/ProcessorBase.schema
+++ b/schema/processor/ProcessorBase.schema
@@ -1,24 +1,20 @@
 name:
   mandatory: true
   type: string
-  yaml_type: scalar
   doc: The processor's name. It has to be unique.
 
 time_tolerance:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: The time tolerance for joining captures into frames [s].
 
 keyframe_vote:
   voting_active:
     mandatory: true
     type: bool
-    yaml_type: scalar
     doc: If the processor is allowed to decide to create a frame.
 
 apply_loss_function:
   mandatory: true
   type: bool
-  yaml_type: scalar
   doc: If the factors created by the processor have loss function.
\ No newline at end of file
diff --git a/schema/processor/ProcessorMotion.schema b/schema/processor/ProcessorMotion.schema
index 057fc772562a0c4d2f19eede78a3fcda7431d69a..a6d9f6baec4b19008860032106b72a36bc8b1d86 100644
--- a/schema/processor/ProcessorMotion.schema
+++ b/schema/processor/ProcessorMotion.schema
@@ -3,26 +3,21 @@ follow: MotionProvider.schema
 keyframe_vote:
   max_time_span:
     mandatory: true
-    yaml_type: scalar
     type: double
     doc: Time threshold to create a new frame [s].
   max_buff_length:
     mandatory: true
-    yaml_type: scalar
     type: unsigned int
     doc: Maximum size of the buffer of motions.
   dist_traveled:
     mandatory: true
-    yaml_type: scalar
     type: double
     doc: Threshold of distance traveled to create a new frame [m].
   angle_turned:
     mandatory: true
-    yaml_type: scalar
     type: double
     doc: Threshold of angle turned to create a new frame [rad].
 unmeasured_perturbation_std:
   mandatory: true
-  yaml_type: scalar
   type: double
   doc: Noise (standard deviation) of the integrated movement in the not observed directions.
\ No newline at end of file
diff --git a/schema/processor/ProcessorOdom2d.schema b/schema/processor/ProcessorOdom2d.schema
index 15f0939dec000a30ef2692545b5e20a7373a4ac7..35918ef4e980ce5d726cf1f83349ee51710277f1 100644
--- a/schema/processor/ProcessorOdom2d.schema
+++ b/schema/processor/ProcessorOdom2d.schema
@@ -3,5 +3,4 @@ keyframe_vote:
   cov_det:
     mandatory: true
     type: double
-    yaml_type: scalar
     doc: The determinant threshold of the covariance matrix of the integrated delta, to vote for a keyframe.
\ No newline at end of file
diff --git a/schema/processor/ProcessorSequence.schema b/schema/processor/ProcessorSequence.schema
index a9e6b75128229de8af68304e1b0811877ead4e94..642aec847aa7317ae514593a46f7e5e04868c278 100644
--- a/schema/processor/ProcessorSequence.schema
+++ b/schema/processor/ProcessorSequence.schema
@@ -3,11 +3,9 @@ follow: ProcessorBase.schema
 type:
   mandatory: true
   type: string
-  yaml_type: scalar
   doc: The processor's class name.
 
 plugin:
   mandatory: true
   type: string
-  yaml_type: scalar
   doc: The name of the wolf plugin where the processor is implemented.
\ No newline at end of file
diff --git a/schema/processor/ProcessorTracker.schema b/schema/processor/ProcessorTracker.schema
index 1e40aa0543ca9c7c78af6530d2cedf1366cc96bb..6ec2f90d2e712f7bdac064847514b103443f73be 100644
--- a/schema/processor/ProcessorTracker.schema
+++ b/schema/processor/ProcessorTracker.schema
@@ -3,11 +3,9 @@ keyframe_vote:
   min_features_for_keyframe:
     mandatory: true
     type: unsigned int
-    yaml_type: scalar
     doc: Minimum number of features to vote for keyframe.
 
 max_new_features:
   mandatory: true
   type: int
-  yaml_type: scalar
   doc: Maximum number of new features to be processed when adding a keyframe (-1=unlimited. 0=none.)
diff --git a/schema/sensor/SensorBase.schema b/schema/sensor/SensorBase.schema
index f06ab44a7ab230fa3a8a2a249223a3ab15e28647..d6a3693568b7f7811dd81443391869a088fe7af9 100644
--- a/schema/sensor/SensorBase.schema
+++ b/schema/sensor/SensorBase.schema
@@ -1,5 +1,4 @@
 name:
   mandatory: true
   type: string
-  yaml_type: scalar
   doc: The sensor's name. It has to be unique.
\ No newline at end of file
diff --git a/schema/sensor/SensorDiffDrive.schema b/schema/sensor/SensorDiffDrive.schema
index eb21483483c301beccb36b248c56e71e1cbde04a..3454b2f3d1af807541c85bda9fe07d2f9dd0dbb5 100644
--- a/schema/sensor/SensorDiffDrive.schema
+++ b/schema/sensor/SensorDiffDrive.schema
@@ -3,7 +3,6 @@ follow: SensorBase.schema
 type:
   mandatory: false
   type: string
-  yaml_type: scalar
   default: SensorDiffDrive
   options: [SensorDiffDrive]
   doc: The sensor's class name.
@@ -11,7 +10,6 @@ type:
 plugin:
   mandatory: false
   type: string
-  yaml_type: scalar
   default: core
   options: [core]
   doc: The name of the wolf plugin where the sensor is implemented.
@@ -19,13 +17,11 @@ plugin:
 ticks_per_wheel_revolution:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of displacement variance to displacement, for odometry noise calculation.
 
 ticks_std_factor:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of displacement variance to rotation, for odometry noise calculation.
 
 states:
@@ -37,14 +33,12 @@ states:
     follow: SpecStateSensor.schema
     type:
       type: string
-      yaml_type: scalar
       mandatory: false
       default: StateParams3
       options: [StateParams3]
       doc: The type of the SensorDiffDrive intrinsic parameters is StateParam3.
     state:
       type: Vector3d
-      yaml_type: scalar
       mandatory: true
       doc: A vector containing the intrinsic state values. 0=left wheel radius (m), 1=right wheel radius (m), 2=wheel separation (m)
 
diff --git a/schema/sensor/SensorOdom2d.schema b/schema/sensor/SensorOdom2d.schema
index 24615eac3b6f0330de3e7865d6e5f973a66f827a..317355b62db745d0cf51b0fa178f76f75e54e1c5 100644
--- a/schema/sensor/SensorOdom2d.schema
+++ b/schema/sensor/SensorOdom2d.schema
@@ -3,31 +3,26 @@ follow: SensorBase.schema
 k_disp_to_disp:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of displacement variance to displacement, for odometry noise calculation.
 
 k_disp_to_rot:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of displacement variance to rotation, for odometry noise calculation.
 
 k_rot_to_rot:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of rotation variance to rotation, for odometry noise calculation.
 
 min_disp_var:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: minimum displacement variance, for odometry noise calculation.
 
 min_rot_var:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: minimum rotation variance, for odometry noise calculation.
 
 states:
diff --git a/schema/sensor/SensorOdom3d.schema b/schema/sensor/SensorOdom3d.schema
index 02845f9af3f74ca3b77d5f564ebc2b24ff08c93f..a5107c0945654d8424bcfa830f4c9f209acdb00e 100644
--- a/schema/sensor/SensorOdom3d.schema
+++ b/schema/sensor/SensorOdom3d.schema
@@ -3,7 +3,6 @@ follow: SensorBase.schema
 type:
   mandatory: false
   type: string
-  yaml_type: scalar
   default: SensorOdom3d
   options: [SensorOdom3d]
   doc: The sensor's class name.
@@ -11,7 +10,6 @@ type:
 plugin:
   mandatory: false
   type: string
-  yaml_type: scalar
   default: core
   options: [core]
   doc: The name of the wolf plugin where the sensor is implemented.
@@ -19,34 +17,28 @@ plugin:
 k_disp_to_disp:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of displacement variance to displacement, for odometry noise calculation.
 
 k_disp_to_rot:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of displacement variance to rotation, for odometry noise calculation.
 
 k_rot_to_rot:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of rotation variance to rotation, for odometry noise calculation.
 
 min_disp_var:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: minimum displacement variance, for odometry noise calculation.
 
 min_rot_var:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: minimum rotation variance, for odometry noise calculation.
 
-
 states:
   P:
     follow: SpecStateSensorP3d.schema
diff --git a/schema/sensor/SensorPose2d.schema b/schema/sensor/SensorPose2d.schema
index d042172be34d684157e91d392be82b7c9c58b539..8122490cc66e34a97d287fd83698d33ad007fd89 100644
--- a/schema/sensor/SensorPose2d.schema
+++ b/schema/sensor/SensorPose2d.schema
@@ -3,13 +3,11 @@ follow: SensorBase.schema
 std_p:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: standard deviation of the position measurement.
 
 std_o:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: standard deviation of the orientation measurement.
 
 states:
diff --git a/schema/sensor/SensorPose3d.schema b/schema/sensor/SensorPose3d.schema
index 2fa18b6e500200784924e35139e403bb20e7aee4..e68b9aa30fa7ee2c4c05b534281e0b7319ea6531 100644
--- a/schema/sensor/SensorPose3d.schema
+++ b/schema/sensor/SensorPose3d.schema
@@ -3,13 +3,11 @@ follow: SensorBase.schema
 std_p:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: standard deviation of the position measurement.
 
 std_o:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: standard deviation of the orientation measurement.
 
 states:
diff --git a/schema/sensor/SensorSequence.schema b/schema/sensor/SensorSequence.schema
index 832d665f270897233d7f4cfe0d529ea9c911740e..30e98123029aef4d6cd534edda954a8179253ad6 100644
--- a/schema/sensor/SensorSequence.schema
+++ b/schema/sensor/SensorSequence.schema
@@ -3,11 +3,9 @@ follow: SensorBase.schema
 type:
   mandatory: true
   type: string
-  yaml_type: scalar
   doc: The sensor's class name.
   
 plugin:
   mandatory: true
   type: string
-  yaml_type: scalar
   doc: The name of the wolf plugin where the sensor is implemented.
\ No newline at end of file
diff --git a/schema/sensor/SpecStateSensor.schema b/schema/sensor/SpecStateSensor.schema
index 75e3052c71fe8c4b9d5adc51f80a305c9e1448b2..0dc92906d849da036764541b1c8c1c7110e79358 100644
--- a/schema/sensor/SpecStateSensor.schema
+++ b/schema/sensor/SpecStateSensor.schema
@@ -1,12 +1,10 @@
 follow: SpecState.schema
 dynamic:
   type: bool
-  yaml_type: scalar
   mandatory: true
   doc: If the state is dynamic, i.e. it changes along time.
 drift_std:
   type: VectorXd
-  yaml_type: scalar
   mandatory: false
   default: []
   doc: A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix.
\ No newline at end of file
diff --git a/schema/sensor/SpecStateSensorO2d.schema b/schema/sensor/SpecStateSensorO2d.schema
index a6378199ab198dc9baf33a1afe687e70801baadc..b0a05bce726292cd42d6252ffbddd6c32116cd55 100644
--- a/schema/sensor/SpecStateSensorO2d.schema
+++ b/schema/sensor/SpecStateSensorO2d.schema
@@ -1,23 +1,19 @@
 follow: SpecStateSensor.schema
 type:
   type: string
-  yaml_type: scalar
   mandatory: false
   default: StateAngle
   options: [StateAngle]
   doc: The derived type of the StateBlock
 state:
   type: Vector1d
-  yaml_type: scalar
   mandatory: true
   doc: A vector containing the state values
 noise_std:
   type: Vector1d
-  yaml_type: scalar
   mandatory: false
   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.
 drift_std:
   type: Vector1d
-  yaml_type: scalar
   mandatory: false
   doc: A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix.
\ No newline at end of file
diff --git a/schema/sensor/SpecStateSensorO3d.schema b/schema/sensor/SpecStateSensorO3d.schema
index 560d94b1d70f559ebf0a1e18aefb6f3d2a663f1b..7937ba035f7647dacf4654ed9e37b8f3c7e7e211 100644
--- a/schema/sensor/SpecStateSensorO3d.schema
+++ b/schema/sensor/SpecStateSensorO3d.schema
@@ -1,23 +1,19 @@
 follow: SpecStateSensor.schema
 type:
   type: string
-  yaml_type: scalar
   mandatory: false
   default: StateQuaternion
   options: [StateQuaternion]
   doc: The derived type of the State in 'O'
 state:
   type: Vector4d
-  yaml_type: scalar
   mandatory: true
   doc: A vector containing the state values. It should be a quaternion (i.e. four values and normalized)
 noise_std:
   type: Vector3d
-  yaml_type: scalar
   mandatory: false
   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.
 drift_std:
   type: Vector3d
-  yaml_type: scalar
   mandatory: false
   doc: A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix.
\ No newline at end of file
diff --git a/schema/sensor/SpecStateSensorP2d.schema b/schema/sensor/SpecStateSensorP2d.schema
index 8315a52bde28ec279121b66d218b39bacddf0c1e..006741b47f899016ad13c04bc8790f445862c49d 100644
--- a/schema/sensor/SpecStateSensorP2d.schema
+++ b/schema/sensor/SpecStateSensorP2d.schema
@@ -1,23 +1,19 @@
 follow: SpecStateSensor.schema
 type:
   type: string
-  yaml_type: scalar
   mandatory: false
   default: StatePoint2d
   options: [StatePoint2d]
   doc: The derived type of the StateBlock
 state:
   type: Vector2d
-  yaml_type: scalar
   mandatory: true
   doc: A vector containing the state values
 noise_std:
   type: Vector2d
-  yaml_type: scalar
   mandatory: false
   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.
 drift_std:
   type: Vector2d
-  yaml_type: scalar
   mandatory: false
   doc: A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix.
\ No newline at end of file
diff --git a/schema/sensor/SpecStateSensorP3d.schema b/schema/sensor/SpecStateSensorP3d.schema
index 83b76542b67aa10a262d30bf5d5d9af3f950a977..9fa39264ee27687966a3c53d63322468a4e1e350 100644
--- a/schema/sensor/SpecStateSensorP3d.schema
+++ b/schema/sensor/SpecStateSensorP3d.schema
@@ -1,23 +1,19 @@
 follow: SpecStateSensor.schema
 type:
   type: string
-  yaml_type: scalar
   mandatory: false
   default: StatePoint3d
   options: [StatePoint3d]
   doc: The derived type of the state in 'P'
 state:
   type: Vector3d
-  yaml_type: scalar
   mandatory: true
   doc: A vector containing the state 'P' values
 noise_std:
   type: Vector3d
-  yaml_type: scalar
   mandatory: false
   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.
 drift_std:
   type: Vector3d
-  yaml_type: scalar
   mandatory: false
   doc: A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix.
\ No newline at end of file
diff --git a/schema/solver/SolverCeres.schema b/schema/solver/SolverCeres.schema
index 5b3a035caba29ee20cea97726c7de6fa4cd6b9d5..3a956396f3f14fe9786af18d2d7edbb3b7a466df 100644
--- a/schema/solver/SolverCeres.schema
+++ b/schema/solver/SolverCeres.schema
@@ -3,49 +3,40 @@ minimizer:
   mandatory: true
   type: string
   options: [LEVENBERG_MARQUARDT, levenberg_marquardt, DOGLEG, dogleg, LBFGS, lbfgs, BFGS, bfgs]
-  yaml_type: scalar
   doc: Type of minimizer.
 interrupt_on_problem_change:
   mandatory: true
   type: bool
-  yaml_type: scalar
   doc: If the solver has to interrupted each time the problem changes to rebuild the problem.
 min_num_iterations:
   mandatory: false
   default: 0
   type: unsigned int
-  yaml_type: scalar
   doc: Amount of solver iterations during which the solver cannot be interrupted (used in interrupt_on_problem_change == true).
 max_num_iterations:
   mandatory: true
   type: unsigned int
-  yaml_type: scalar
   doc: Maximum amount of solver iterations. If the solver didn't converge after this amount of iterations, it stops anyway. 
 function_tolerance:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: "Function tolerance. Convergence criterion. Typical value: 1e-8"
 gradient_tolerance:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: "Gradient tolerance. Convergence criterion. Typical value: 1e-8"
 n_threads:
   mandatory: true
   type: unsigned int
   options: [1, 2, 3, 4]
-  yaml_type: scalar
   doc: Amount of threads used by ceres.
 use_nonmonotonic_steps:
   mandatory: false
   default: false
   type: bool
-  yaml_type: scalar
   doc: If the solver is allowed to update the solution with non-monotonic steps. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers.
 max_consecutive_nonmonotonic_steps:
   mandatory: false
   default: 0
   type: unsigned int
-  yaml_type: scalar
   doc: Amount of consecutive non-monotonic steps allowed. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers.
\ No newline at end of file
diff --git a/schema/solver/SolverManager.schema b/schema/solver/SolverManager.schema
index 0bb50994f2ae97685e8969ddef5a1ca6c857a764..e79428bd0c28ca8511a61ac26d6d432f17d3d86f 100644
--- a/schema/solver/SolverManager.schema
+++ b/schema/solver/SolverManager.schema
@@ -1,28 +1,23 @@
 period:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: Period of the solver thread.
 verbose:
   mandatory: true
   type: int
-  yaml_type: scalar
   options: [0, 1, 2]
   doc: "Verbosity of the solver. 0: Nothing, 1: Brief report, 2: Full report."
 compute_cov:
   mandatory: true
   type: bool
-  yaml_type: scalar
   doc: If the solver has to compute any covariance matrix block.
 cov_enum:
   mandatory: false
   default: 0
   type: int
   options: [0, 1, 2, 3, 4, 5]
-  yaml_type: scalar
   doc: "Which covariance matrix blocks have to be computed. 0: All blocks and all cross-covariances. 1: All marginals. 2: Marginals of landmarks and current robot pose plus cross covariances of current robot and all landmarks. 3: Last frame P and V. 4: Last frame P, O, V and T. 5: Last frame P and T."
 cov_period:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: Period of the covariance computation.
\ No newline at end of file
diff --git a/schema/tree_manager/TreeManagerBase.schema b/schema/tree_manager/TreeManagerBase.schema
index 79e6c6e4aa6fcf58ea7758030af59c399484a5d5..0f863de9b6d092d19e4ea0a657072e2d85675a10 100644
--- a/schema/tree_manager/TreeManagerBase.schema
+++ b/schema/tree_manager/TreeManagerBase.schema
@@ -1,5 +1,4 @@
 type:
   mandatory: true
   type: string
-  yaml_type: scalar
   doc: Type of the TreeManager. To keep all frames, use "none".
\ No newline at end of file
diff --git a/schema/tree_manager/TreeManagerSlidingWindow.schema b/schema/tree_manager/TreeManagerSlidingWindow.schema
index 8d584a1a04557e0ec146c4e8492dec88a5c27dd8..9ed1f5097548cfaeca94cc263b7b576f365cc261 100644
--- a/schema/tree_manager/TreeManagerSlidingWindow.schema
+++ b/schema/tree_manager/TreeManagerSlidingWindow.schema
@@ -3,23 +3,19 @@ follow: TreeManagerBase.schema
 type:
   mandatory: true
   type: string
-  yaml_type: scalar
   doc: Type of the TreeManager. To keep all frames, use "none".
 
 n_frames:
   mandatory: true
   type: unsigned int 
-  yaml_type: scalar
   doc: Total number of frames of the sliding window.
 
 n_fix_first_frames:
   mandatory: true
   type: unsigned int 
-  yaml_type: scalar
   doc: Amount of frames fixed at the begining of the sliding window. 
 
 viral_remove_empty_parent:
   mandatory: true
   type: bool 
-  yaml_type: scalar
   doc: If the other wolf nodes (landmarks) have to be removed when removing frames. Otherwise, they will remain alive but unconstrained.
diff --git a/schema/tree_manager/TreeManagerSlidingWindowDualRate.schema b/schema/tree_manager/TreeManagerSlidingWindowDualRate.schema
index c7077e1a2491296a4970664013a313a4ec89bb31..dbce64d140ee88aa9456fadbd7f40206b206bbd3 100644
--- a/schema/tree_manager/TreeManagerSlidingWindowDualRate.schema
+++ b/schema/tree_manager/TreeManagerSlidingWindowDualRate.schema
@@ -3,11 +3,9 @@ follow: TreeManagerSlidingWindow.schema
 n_frames_recent:
   mandatory: true
   type: unsigned int
-  yaml_type: scalar
   doc: Amount of frames kept in the recent part of the sliding window.
 
 rate_old_frames:
   mandatory: true
   type: unsigned int 
-  yaml_type: scalar
   doc: Rate of keyframes that are kept from the recent part to the sparse part of the sliding window. One of each 'rate_old_frames' will be kept.
\ No newline at end of file