diff --git a/yaml_templates/landmark/Landmark2d.yaml b/yaml_templates/landmark/Landmark2d.yaml
index 699a60df2447fc0ac4725e8393e7108eb338cd55..c880dbc2a7089638f581f076ae272b06cd679c1a 100644
--- a/yaml_templates/landmark/Landmark2d.yaml
+++ b/yaml_templates/landmark/Landmark2d.yaml
@@ -10,7 +10,7 @@ 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
\ No newline at end of file
diff --git a/yaml_templates/landmark/Landmark3d.yaml b/yaml_templates/landmark/Landmark3d.yaml
index 3e96df0f122efa2ab45a89812667d37373a2efce..5e2e24b97605b07c5cb1e94509633316b4213e65 100644
--- a/yaml_templates/landmark/Landmark3d.yaml
+++ b/yaml_templates/landmark/Landmark3d.yaml
@@ -5,12 +5,12 @@ external_id: 0  # OPTIONAL - DOC Id given by an external tracker via capture. Mi
 external_type: 0  # OPTIONAL - DOC Type given by an external identifier via capture (for example: 1: chair, 2: person...). Missing or -1 means uknown. - TYPE int
 states:
   P:
-    value: [0.0, 0.0, 0.0]  # OPTIONAL - DOC A vector containing the position (x, y, z) [m]. - TYPE Vector3d
+    value: [0.0, 0.0, 0.0]  # DOC A vector containing the position (x, y, z) [m]. - TYPE Vector3d
     prior:
       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, 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 Vector3d
   O:
-    value: [0.0, 0.0, 0.0, 0.0]  # OPTIONAL - DOC A vector containing the quaternion values (x, y, z, w) - TYPE Vector4d
+    value: [0.0, 0.0, 0.0, 0.0]  # DOC A vector containing the quaternion values (x, y, z, w) - TYPE Vector4d
     prior:
       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, 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 Vector3d
\ No newline at end of file
diff --git a/yaml_templates/problem/Problem2d.yaml b/yaml_templates/problem/Problem2d.yaml
index e0bf33a1aaaa4a3b2301bc8f42b859401335ddcf..b742875397cbab08285da6692cf036a473fb3783 100644
--- a/yaml_templates/problem/Problem2d.yaml
+++ b/yaml_templates/problem/Problem2d.yaml
@@ -10,7 +10,7 @@ problem:
         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/problem/Problem3d.yaml b/yaml_templates/problem/Problem3d.yaml
index 4f8caafd7c4b17643fb75dc40b7b3aa816aa5580..57c5cdd527118a4ae8c47041a3c4675ff6806a42 100644
--- a/yaml_templates/problem/Problem3d.yaml
+++ b/yaml_templates/problem/Problem3d.yaml
@@ -5,17 +5,17 @@ problem:
   dimension: 3  # DOC Dimension of the problem: "3" for 3D - TYPE unsigned int - OPTIONS [3]
   first_frame:
     P:
-      value: [0.0, 0.0, 0.0]  # OPTIONAL - DOC A vector containing the position (x, y, z) [m]. - TYPE Vector3d
+      value: [0.0, 0.0, 0.0]  # DOC A vector containing the position (x, y, z) [m]. - TYPE Vector3d
       prior:
         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, 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 Vector3d
     O:
-      value: [0.0, 0.0, 0.0, 0.0]  # OPTIONAL - DOC A vector containing the quaternion values (x, y, z, w) - TYPE Vector4d
+      value: [0.0, 0.0, 0.0, 0.0]  # DOC A vector containing the quaternion values (x, y, z, w) - TYPE Vector4d
       prior:
         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, 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 Vector3d
     V:
-      value: [0.0, 0.0, 0.0]  # OPTIONAL - DOC A vector containing the velocity (x, y, z) [m/s]. - TYPE Vector3d
+      value: [0.0, 0.0, 0.0]  # DOC A vector containing the velocity (x, y, z) [m/s]. - TYPE Vector3d
       prior:
         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, 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/s]. - TYPE Vector3d
diff --git a/yaml_templates/state/StateO2d.yaml b/yaml_templates/state/StateO2d.yaml
index 92e8fd0c5edced9f2c0933a17e838a78e7f4694e..57f6c739d307fe87d73b6959c79b64c93aea4beb 100644
--- a/yaml_templates/state/StateO2d.yaml
+++ b/yaml_templates/state/StateO2d.yaml
@@ -1,4 +1,4 @@
-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
\ No newline at end of file
diff --git a/yaml_templates/state/StateO3d.yaml b/yaml_templates/state/StateO3d.yaml
index 20c6880e61e74b8a5b9063fcac56acf47d071de3..7d2d34cb4dc1921600837f0a20d7aeb1208395b1 100644
--- a/yaml_templates/state/StateO3d.yaml
+++ b/yaml_templates/state/StateO3d.yaml
@@ -1,4 +1,4 @@
-value: [0.0, 0.0, 0.0, 0.0]  # OPTIONAL - DOC A vector containing the quaternion values (x, y, z, w) - TYPE Vector4d
+value: [0.0, 0.0, 0.0, 0.0]  # DOC A vector containing the quaternion values (x, y, z, w) - TYPE Vector4d
 prior:
   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, 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 Vector3d
\ No newline at end of file
diff --git a/yaml_templates/state/StateP3d.yaml b/yaml_templates/state/StateP3d.yaml
index ba3824cf879db94e996c2f156340e8e3af588c21..0b4566aa2e1dd20190665968d62e555ecbbe74b8 100644
--- a/yaml_templates/state/StateP3d.yaml
+++ b/yaml_templates/state/StateP3d.yaml
@@ -1,4 +1,4 @@
-value: [0.0, 0.0, 0.0]  # OPTIONAL - DOC A vector containing the position (x, y, z) [m]. - TYPE Vector3d
+value: [0.0, 0.0, 0.0]  # DOC A vector containing the position (x, y, z) [m]. - TYPE Vector3d
 prior:
   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, 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 Vector3d
\ No newline at end of file
diff --git a/yaml_templates/state/StateV3d.yaml b/yaml_templates/state/StateV3d.yaml
index 97dff430fa696603363ddfa75efed05b9b70cd8d..7fd950fafa008879f9a39ec7f2807659e6662d49 100644
--- a/yaml_templates/state/StateV3d.yaml
+++ b/yaml_templates/state/StateV3d.yaml
@@ -1,4 +1,4 @@
-value: [0.0, 0.0, 0.0]  # OPTIONAL - DOC A vector containing the velocity (x, y, z) [m/s]. - TYPE Vector3d
+value: [0.0, 0.0, 0.0]  # DOC A vector containing the velocity (x, y, z) [m/s]. - TYPE Vector3d
 prior:
   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, 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/s]. - TYPE Vector3d
\ No newline at end of file