diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel_ble.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel_ble.xml
new file mode 100644
index 00000000..243b1394
--- /dev/null
+++ b/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel_ble.xml
@@ -0,0 +1,206 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+<robot name="ergoCub-Retargeting" build=0 portprefix="">
+
+    <device type="frameTransformClient" name="TransformClient">
+        <param name="period">0.01</param>
+        <param name="filexml_option">ftc_yarp_only.xml</param>
+        <param name="ft_client_prefix">/IFrameTransformToIWear/tf</param>
+        <param name="local_rpc">/IFrameTransformToIWear/tf/local_rpc</param>
+        <param name="ftc_storage_timeout">10.0</param>
+    </device>
+
+    <device type="iframetransform_to_iwear" name="IFrameTransformToIWear">
+        <param name="wearableName">TransformServer</param>
+        <param extern-name="rootFrame" name="rootFrameID">root_link_desired</param>
+        <param name="wearableSensorType">PoseSensor</param>
+        <param extern-name="frames" name="frameIDs">(root_link_desired
+                                                     openxr_head
+                                                     right_glove
+                                                     left_glove)</param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="IFrameTransformToIWearLabel">TransformClient</elem>
+           </paramlist>
+        </action>
+        <action phase="shutdown" level="5" type="detach"/>
+    </device>
+
+    <device type="iwear_remapper" name="XSenseIWearRemapper">
+        <param name="wearableDataPorts">(/iFeelSuit/WearableData/data:o)</param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="IFrameTransformToIWear">IFrameTransformToIWear</elem>
+            </paramlist>
+        </action>
+    </device>
+
+    <device type="human_state_provider" name="RobotStateProvider">
+        <param name="period">0.01</param>
+        <param name="urdf">model.urdf</param>
+        <param name="floatingBaseFrame">root_link</param>
+        <!-- ikSolver options: pairwised, global, dynamical -->
+        <param name="ikSolver">dynamical</param>
+        <param name="allowIKFailures">true</param>
+        <param name="useDirectBaseMeasurement">false</param>
+        <!-- optimization parameters -->
+        <param name="maxIterationsIK">300</param>
+        <param name="ikLinearSolver">ma27</param>
+        <param name="ikPoolSizeOption">2</param>
+        <param name="posTargetWeight">0.0</param>
+        <param name="rotTargetWeight">1.0</param>
+        <param name="costRegularization">1.0</param>
+        <param name="costTolerance">0.001</param>
+        <param name="rpcPortPrefix">ergoCub</param>
+        <!-- inverse velocity kinematics parameters -->
+        <!-- inverseVelocityKinematicsSolver values:
+        QP
+        moorePenrose,
+        completeOrthogonalDecomposition,
+        leastSquare,
+        choleskyDecomposition,
+        sparseCholeskyDecomposition,
+        robustCholeskyDecomposition,
+        sparseRobustCholeskyDecomposition -->
+        <param name='inverseVelocityKinematicsSolver'>QP</param>
+        <param name="linVelTargetWeight">1.0</param>
+        <param name="angVelTargetWeight">1.0</param>
+        <!-- integration based IK parameters -->
+        <param name='dynamicalIKJointVelocityLimit'>10.0</param> <!-- comment or -1.0 for no limits -->
+        <param name="dynamicalIKMeasuredVelocityGainLinRot">(1.0 1.0)</param>
+        <param name="dynamicalIKCorrectionGainsLinRot">(200.0 20.0)</param>
+        <param name="dynamicalIKIntegralCorrectionGainsLinRot">(0.0 0.0)</param>
+        <group name="WEARABLE_SENSOR_TARGETS">
+            <!-- <param name="target_Pelvis">(root_link, TransformServer::pose::root_link_desired, pose)</param> -->
+            <param name="target_Chest">(chest, iFeelSuit::vLink::Node#6, gravity)</param>
+            <param name="target_RightHand">(r_hand_palm, TransformServer::pose::right_glove, pose)</param>
+            <param name="target_LeftHand">(l_hand_palm, TransformServer::pose::left_glove, pose)</param>
+            <param name="target_Head">(head, TransformServer::pose::openxr_head, pose)</param>
+            <param name="target_l_upper_arm">(l_upper_arm iFeelSuit::vLink::Node#5, gravity)</param>
+            <param name="target_l_forearm">(l_forearm, iFeelSuit::vLink::Node#4, gravity)</param>
+            <param name="target_r_upper_arm">(r_upper_arm iFeelSuit::vLink::Node#7, gravity)</param>
+            <param name="target_r_forearm">(r_forearm, iFeelSuit::vLink::Node#8, gravity)</param>
+        </group>
+        <param name="jointList">("l_shoulder_pitch",
+                                 "l_shoulder_roll",
+                                 "l_shoulder_yaw",
+                                 "l_elbow",
+                                 "l_wrist_roll",
+                                 "l_wrist_pitch",
+                                 "l_wrist_yaw",
+                                 "r_shoulder_pitch",
+                                 "r_shoulder_roll",
+                                 "r_shoulder_yaw",
+                                 "r_elbow",
+                                 "r_wrist_roll",
+                                 "r_wrist_pitch",
+                                 "r_wrist_yaw",
+                                 "torso_pitch",
+                                 "torso_roll",
+                                 "torso_yaw",
+                                 "neck_pitch",
+                                 "neck_roll",
+                                 "neck_yaw",
+				 "camera_tilt")
+        </param>
+        <group name="MEASUREMENT_TO_LINK_TRANSFORMS">
+            <param name="target_LeftHand">( 1.0   0.0  0.0  0.0
+                                            0.0   0.0  1.0  -0.02
+                                            0.0  -1.0  0.0  0.05
+                                            0.0   0.0  0.0  1.0)</param>
+            <param name="target_RightHand">(-1.0  0.0  0.0  0.0
+                                             0.0  0.0  1.0  -0.02
+                                             0.0  1.0  0.0  0.05
+                                             0.0  0.0  0.0  1.0)</param>
+            <param name="target_Head">( 0.0 -1.0  0.0  0.0
+                                        0.0  0.0  1.0  0.0
+                                       -1.0  0.0  0.0  0.1
+                                        0.0  0.0  0.0  1.0)</param>
+            <param name="target_Chest">( 0.0 1.0  0.0  0.0
+                                         0.0  0.0  -1.0  0.0
+                                         -1.0  0.0  0.0  0.0
+                                         0.0  0.0  0.0  1.0)</param>
+            <param name="target_r_upper_arm">( -1.0  0.0  0.0  0.0
+                                               0.0  0.0  1.0  0.0
+                                               0.0 1.0  0.0  0.0
+                                               0.0  0.0  0.0  1.0)</param>
+            <param name="target_l_upper_arm">( -1.0  0.0  0.0  0.0
+                                               0.0  0.0 -1.0  0.0
+                                               0.0  -1.0  0.0  0.0
+                                               0.0  0.0  0.0  1.0)</param>
+            <param name="target_r_forearm">( -1.0  0.0  0.0  0.0
+                                             0.0  0.0  1.0  0.0
+                                             0.0 1.0  0.0  0.0
+                                             0.0  0.0  0.0  1.0)</param>
+            <param name="target_l_forearm">( -1.0  0.0  0.0  0.0
+                                             0.0  0.0 -1.0  0.0
+                                             0.0  -1.0  0.0  0.0
+                                             0.0  0.0  0.0  1.0)</param>
+        </group>
+        <group name="MEASUREMENT_POSITION_SCALE_FACTOR">
+            <param name="target_Head">( 0.7 0.7 0.6 )</param>
+            <param name="target_LeftHand">( 0.7 0.7 0.6 )</param>
+            <param name="target_RightHand">( 0.7 0.7 0.6 )</param>
+            <param name="x_scale_factor_all" extern-name="xy_scale">0.7</param>
+            <param name="y_scale_factor_all" extern-name="xy_scale">0.7</param>
+            <param name="z_scale_factor_all" extern-name="z_scale">0.7</param>
+        </group>
+        <group name="CUSTOM_CONSTRAINTS">
+        <!-- check issue https://github.com/robotology/human-dynamics-estimation/issues/132 for more info-->
+        <!-- note that a group can not be empty, otherwise it returns error-->
+        <!-- custom joint limits velocities-->
+            <!--param name="custom_joints_velocity_limits_names">(neck_roll, neck_pitch)</param-->
+            <param name="custom_joints_velocity_limits_names">()</param>
+            <!-- the upper bound is "+", while the lower bounds are "-" -->
+            <!--param name="custom_joints_velocity_limits_values">(10.0, 15.0)</param-->
+            <param name="custom_joints_velocity_limits_values">()</param>
+        <!-- **** base velocity limit: x, y, z, roll, pitch, yaw ****-->
+            <param name="base_velocity_limit_upper_buond">(0.0, 0.0,  0.0, 0.0, 0.0, 0.0)</param>
+            <param name="base_velocity_limit_lower_buond">(0.0, 0.0, -0.0, 0.0, 0.0, 0.0)</param>
+        <!-- Custom joint Configuration constraints-->
+        <!-- if the boudary value is inf, I will use -1000.0 rad, or +1000.0 rad-->
+            <param name="custom_constraint_variables">(
+             l_shoulder_roll, r_shoulder_roll, camera_tilt)</param>
+            <param name="custom_constraint_matrix"> (
+            (1.0, 0.0, 0.0),
+            (0.0, 1.0, 0.0),
+	    (0.0, 0.0, 1.0))</param>
+            <param name="custom_constraint_lower_bound"> (
+            -100.0, -100.0, -0.1)</param>
+            <param name="custom_constraint_upper_bound"> (
+             1.4, 1.4, 0.1)</param>
+            <param name="k_u">0.5</param>
+            <param name="k_l">0.5</param>
+        </group>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="HumanStateProviderLabel">XSenseIWearRemapper</elem>
+            </paramlist>
+        </action>
+        <action phase="shutdown" level="5" type="detach"/>
+    </device>
+
+    <!-- Uncomment to stream the output of HumanStateProvider on a YARP port -->
+    <device type="human_state_nws_yarp" name="RobotState_nws_yarp">
+        <param name="period">0.01</param>
+        <param name="outputPort">/ergoCub/RobotStateServer/state:o</param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="HumanStateServerLabel">RobotStateProvider</elem>
+            </paramlist>
+        </action>
+        <action phase="shutdown" level="5" type="detach"/>
+    </device>
+
+    <device type="wearable_targets_nws_yarp" name="WearableTargets_nws_yarp">
+        <param name="period">0.01</param>
+        <param name="outputPort">/HDE/WearableTargetsServer/state:o</param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="HumanStateServerLabel">RobotStateProvider</elem>
+            </paramlist>
+        </action>
+        <action phase="shutdown" level="5" type="detach"/>
+    </device>
+
+</robot>