diff --git a/utilities/motor-current-tracking/blf-motor-current-tracking.py b/utilities/motor-current-tracking/blf-motor-current-tracking.py
index 611f821cad..4d5124177b 100644
--- a/utilities/motor-current-tracking/blf-motor-current-tracking.py
+++ b/utilities/motor-current-tracking/blf-motor-current-tracking.py
@@ -279,11 +279,6 @@ def generate(
             t = t + dt
             motor_current = motor_current + dt * speed
 
-        # import matplotlib.pyplot as plt
-        # plt.figure(figsize=(10, 4))  # Create a new figure with a specific size
-        # plt.plot(np.array(trajectory), marker='o')  # Plot the data
-        # plt.show()  # Show the plot
-
         return trajectory
 
     def create_starting_points(
diff --git a/utilities/motor-current-tracking/config/robots/ergoCubGazeboV1_1/blf_motor_current_tracking/robot_control.ini b/utilities/motor-current-tracking/config/robots/ergoCubGazeboV1_1/blf_motor_current_tracking/robot_control.ini
index c1bc9d6ff6..a0939b623f 100644
--- a/utilities/motor-current-tracking/config/robots/ergoCubGazeboV1_1/blf_motor_current_tracking/robot_control.ini
+++ b/utilities/motor-current-tracking/config/robots/ergoCubGazeboV1_1/blf_motor_current_tracking/robot_control.ini
@@ -1,12 +1,8 @@
 robot_name                              ergocubSim
 
-# The joints order affects the order of the way points.
-# The last joint is the joint moved first. The first joint is the joint moved last.
-# joints_list                             ("r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")
 joints_list                             ("r_ankle_roll", "l_ankle_roll")
 
-# remote_control_boards                   ("right_leg")
 remote_control_boards                   ("left_leg","right_leg")
 positioning_duration                    3.0  #in seconds
-positioning_tolerance                   0.05 #in seconds
-position_direct_max_admissible_error    0.1  #in seconds
+positioning_tolerance                   0.05 #in radians
+position_direct_max_admissible_error    0.1  #in radians
diff --git a/utilities/motor-current-tracking/config/robots/ergoCubSN001/blf-motor-current-tracking-options.ini b/utilities/motor-current-tracking/config/robots/ergoCubSN001/blf-motor-current-tracking-options.ini
index cddeb0651c..2d3971091b 100644
--- a/utilities/motor-current-tracking/config/robots/ergoCubSN001/blf-motor-current-tracking-options.ini
+++ b/utilities/motor-current-tracking/config/robots/ergoCubSN001/blf-motor-current-tracking-options.ini
@@ -11,26 +11,12 @@ min_frequency                 ( 0.05)
 max_frequency                 ( 0.45)
 frequency_decrement           ( 0.1 )
 
-#                             (hip_yaw,   knee,  ankle_pitch,  ankle_roll, )
-# min_delta_current           (    0.1,   0.05,         0.7 ,         0.1, )
-# max_delta_current           (    2.0,    1.7,         1.8 ,         1.5, )
-# delta_current_increment     (   0.05,   0.08,         0.2 ,        0.05, )
-# min_frequency               (    0.1,    0.1,         0.05,         0.1, )
-# max_frequency               (    0.8,    0.7,         0.45,         0.8, )
-# frequency_increment         (    0.1,   0.07,         0.1 ,         0.1, )
-
 [RAMP]
 initial_speed                    (0.15)
 final_speed                      (0.40)
 speed_increment                  (0.08)
 max_current_increment            (2.00)
 
-#                          ( knee,  ankle_pitch, ankle_roll, )
-; initial_speed            ( 0.01,         0.15,       0.01, )
-; final_speed              (  0.3,         0.40,        0.4, )
-; speed_increment          ( 0.05,         0.08,       0.03, )
-; max_current              (  1.2,         2.00,        1.6, )
-
 [include ROBOT_CONTROL "./blf_motor_current_tracking/robot_control.ini"]
 [include SENSOR_BRIDGE "./blf_motor_current_tracking/sensor_bridge.ini"]
 [include DATA_LOGGING  "./blf_motor_current_tracking/data_logging.ini"]
diff --git a/utilities/motor-current-tracking/config/robots/ergoCubSN001/blf_motor_current_tracking/robot_control.ini b/utilities/motor-current-tracking/config/robots/ergoCubSN001/blf_motor_current_tracking/robot_control.ini
index 5ec30459d5..a3970ab59c 100644
--- a/utilities/motor-current-tracking/config/robots/ergoCubSN001/blf_motor_current_tracking/robot_control.ini
+++ b/utilities/motor-current-tracking/config/robots/ergoCubSN001/blf_motor_current_tracking/robot_control.ini
@@ -1,11 +1,8 @@
 robot_name                              ergocub
 
-# The joints order affects the order of the way points.
-# The last joint is the joint moved first. The first joint is the joint moved last.
-# joints_list                             ("r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll")
 joints_list                             ("r_ankle_pitch")
 
 remote_control_boards                   ("right_leg")
 positioning_duration                    3.0  #in seconds
-positioning_tolerance                   0.05 #in seconds
-position_direct_max_admissible_error    0.1  #in seconds
+positioning_tolerance                   0.05 #in radians
+position_direct_max_admissible_error    0.1  #in radians