diff --git a/ergoCubSN001/estimators/wholebodydynamics.xml b/ergoCubSN001/estimators/wholebodydynamics.xml
index e744fe9b2..3db9f6958 100644
--- a/ergoCubSN001/estimators/wholebodydynamics.xml
+++ b/ergoCubSN001/estimators/wholebodydynamics.xml
@@ -42,8 +42,8 @@
   <group name="WBD_OUTPUT_EXTERNAL_WRENCH_PORTS">
     <param name="/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o">(l_hand_palm,l_hand_palm,root_link)</param>
     <param name="/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o">(r_hand_palm,r_hand_palm,root_link)</param>
-    <param name="/wholeBodyDynamics/left_leg/cartesianEndEffectorWrench:o">(l_lower_leg,l_lower_leg,root_link)</param>
-    <param name="/wholeBodyDynamics/right_leg/cartesianEndEffectorWrench:o">(r_lower_leg,r_lower_leg,root_link)</param>
+    <param name="/wholeBodyDynamics/left_leg/cartesianEndEffectorWrench:o">(l_upper_leg,l_upper_leg,root_link)</param>
+    <param name="/wholeBodyDynamics/right_leg/cartesianEndEffectorWrench:o">(r_upper_leg,r_upper_leg,root_link)</param>
     <param name="/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o">(l_foot_front,l_sole,l_sole)</param>
     <param name="/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o">(l_foot_rear,l_sole,l_sole)</param>
     <param name="/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o">(r_foot_front,r_sole,r_sole)</param>