diff --git a/iCubGenova09/calibrators/face-calib.xml b/iCubGenova09/calibrators/face-calib.xml
index 8907613d39..9e22bb918b 100644
--- a/iCubGenova09/calibrators/face-calib.xml
+++ b/iCubGenova09/calibrators/face-calib.xml
@@ -21,7 +21,7 @@
         <group name="CALIBRATION">
             <param name="calibrationType">              12              </param>
             <!-- The value of the raw encoder needs to be with sign -->
-	    <param name="calibration1">                 -25108         </param> 
+	    <param name="calibration1">                 -2800         </param> 
             <param name="calibration2">                 0              </param> 
             <param name="calibration3">                 0             </param>
 
diff --git a/iCubGenova09/calibrators/head-calib.xml b/iCubGenova09/calibrators/head-calib.xml
index e9093fcdb7..60f6ac19f7 100644
--- a/iCubGenova09/calibrators/head-calib.xml
+++ b/iCubGenova09/calibrators/head-calib.xml
@@ -20,7 +20,7 @@
         <!-- joint name                         neck-pitch  neck-roll   neck-yaw    eyes-tilt   eyes-vers   eyes-verg   --> 
         <group name="CALIBRATION">
             <param name="calibrationType">      12          12         12           12           5           5           </param>
-            <param name="calibration1">   	19567	    53471     63631	    543        2000        2000        </param>
+            <param name="calibration1">   	19567	    53471       4175	    543        2000        2000        </param>
             <param name="calibration2">         0           0           0	    0           8192        8192        </param>
             <param name="calibration3">         0           0           0           0            0           0           </param>
 
diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml
index 185ed3055e..653f3ce4c2 100644
--- a/iCubGenova09/calibrators/left_arm-calib.xml
+++ b/iCubGenova09/calibrators/left_arm-calib.xml
@@ -21,8 +21,8 @@
 <param name="calibration1">           -54795      19668       44679      53215    -1500     -8335   10671    0       0       0       0       0       0       0       0       0       </param>
 <param name="calibration2">	      0           0           0          0        16384      0       0       0       0       9102    9102    9102    9102    9102    9102    10000    </param>
 <param name="calibration3">           0           0           0          0           0       0       0       0       0       -1      1       -1      1      -1       1       1      </param>
-<param name="calibration4">           0           0           0          0           0       0       0       2140    448     240     484     243     483     255     480     691     </param>
-<param name="calibration5">           0           0           0          0           0       0       0       2400    2712    0       9       15      8      20      45      106     </param>
+<param name="calibration4">           0           0           0          0           0       0       0       2045    448     240     484     243     483     255     480     700     </param>
+<param name="calibration5">           0           0           0          0           0       0       0       2140    2712    0       9       15      8      20      45      110     </param>
 <param name="calibrationZero">        0           0           0          0           0       0       0       0       0       0       0       0       0       0       0       0       </param>
 <param name="calibrationDelta">       0           0           0          0           0       0       0       0       0       0       0       0       0       0       0       0       </param>
                                                                                                                              
@@ -32,8 +32,8 @@
 <param name="startupPosThreshold">    2          2            2          2           90      90      90      90      90      90      90      90      90      90      90      90      </param>
 </group>
 
-<param name="CALIB_ORDER">(1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param> <!-- removed joint 14 -->
-
+<param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15)</param> <!-- removed joint 14 -->
+<!-- <param name="CALIB_ORDER">(1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param> -->
 		<action phase="startup" level="10" type="calibrate">
 		    <param name="target">left_arm-mc_wrapper</param>
 		</action>
diff --git a/iCubGenova09/calibrators/left_leg-calib.xml b/iCubGenova09/calibrators/left_leg-calib.xml
index 91945c6eee..b62afc0811 100644
--- a/iCubGenova09/calibrators/left_leg-calib.xml
+++ b/iCubGenova09/calibrators/left_leg-calib.xml
@@ -26,16 +26,14 @@
     <param name="calibration4">                       0.0            0.0        0.0          0.0         0.0       0.0      </param>
     <param name="calibration5">                       0.0            0.0        0.0          0.0         0.0       0.0      </param>
     <param name="calibrationZero">                    0.0            0.0        0.0          0.0         0.0       0.0      </param>
-
-    <param name="calibrationDelta">     -2.53     -4.738      1.254     0.0     0.0     -2.813</param>
-
+    <param name="calibrationDelta">    -2.763     -5.386      1.988     -5.423      6.360     -2.225</param>
     <param name="startupPosition">                    5              15          0           -20           0         0           </param>
     <param name="startupVelocity">                    10.0           10.0       10.0         10.0        10.0      10.0        </param>
     <param name="startupMaxPwm">                      3000           3000       3000         3000        3000      3000        </param>
     <param name="startupPosThreshold">                2              2          2            2           2         2           </param>
   </group>
 
-  <param name="CALIB_ORDER"> (0) (1) (2) (3) (4) (5)  </param>
+  <param name="CALIB_ORDER"> (0) (1) (2) (3) (4) (5) </param>
 
   <action phase="startup" level="10" type="calibrate">
     <param name="target">left_leg-mc_wrapper</param>
diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml
index 691560ef11..b6a008ae02 100644
--- a/iCubGenova09/calibrators/right_arm-calib.xml
+++ b/iCubGenova09/calibrators/right_arm-calib.xml
@@ -22,18 +22,19 @@
 <param name="calibration1">        6576       -12912      -883       -47529      1500    36903  -12703   0       0       0       0       0       0       0       0       0       </param>
 <param name="calibration2">	   0           0           0          0	         16384   0       0       0       0       9102    9102    9102    9102    9102    9102    10000    </param>
 <param name="calibration3">        0           0           0          0          0       0       0       0       0       -1      1       -1      1       -1      1       1      </param>
-<param name="calibration4">        0           0           0          0          0       0       0       2260    1470    242     510     255     510     255     510     748     </param>
-<param name="calibration5">        0           0           0          0          0       0       0       2560    2350    25      40      18      30      0       30      120     </param>
+<param name="calibration4">        0           0           0          0          0       0       0       2510    1470    255     510     255     510     200     510     748     </param>
+<param name="calibration5">        0           0           0          0          0       0       0       2670    2350    22      40      18      30      10       30      120     </param>
 <param name="calibrationZero">     0           0           0          0          0       0       0       0       0       0       0       0       0       0       0       0             </param>
-<param name="calibrationDelta">    0           0          -5.8        0          0      -5.5    -4       0       0       0       0       0       0       0       0       0       </param>
+<param name="calibrationDelta">    0           0          -5.8        0          0      -5.5    -4       10       0      0       0       0       0       0       0       0       </param>
                                                                               
-<param name="startupPosition">     -35        30           0         45          0       0       0       25      45      0       0       0       0       0       0       0       </param>
+<param name="startupPosition">     -35        30           0         45          0       0       15      25      45      10       0       0       0       0       0       0       </param>
 <param name="startupVelocity">     10.0       10.0         10.0      10.0        30      30      30      60      100     100     100     100     100     100     100     100     </param>
 <param name="startupMaxPwm">       8000       8000         8000      8000        1500    0       0       0       0       0       0       0       0       0       0       0       </param>
 <param name="startupPosThreshold"> 2          2            2          2          90      90      90      90      90      90      90      90      90      90      90      90      </param>
 </group>
 
-<param name="CALIB_ORDER">(1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param>
+<!--param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param-->
+<param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param> 
 		<action phase="startup" level="10" type="calibrate">
 		    <param name="target">right_arm-mc_wrapper</param>
 		</action>
diff --git a/iCubGenova09/calibrators/right_leg-calib.xml b/iCubGenova09/calibrators/right_leg-calib.xml
index 8de5bc4a2e..542af714f4 100644
--- a/iCubGenova09/calibrators/right_leg-calib.xml
+++ b/iCubGenova09/calibrators/right_leg-calib.xml
@@ -18,23 +18,21 @@
   <group name="CALIBRATION">
     <param name="calibrationType">                    12              12          12            12         12      12      </param> <!--
     <param name="calibration1">                      -46315         -27486       -21455      29918       27285     7866    </param> -->
-    <param name="calibration1">                      -46203         -26675       -54991      28574      -21495     9657    </param>
+    <param name="calibration1">                      -44781         -26675       -54991      28574      -21495     9657    </param>
+    <!-- <param name="calibration1">                      -44781         -26675       -54991      28574      -1000     9657    </param> -->
     <param name="calibration2">                       0.0            0.0        0.0          0.0         0.0       0.0     </param> 
     <param name="calibration3">                       0.0            0.0        0.0          0.0         0.0       0.0     </param> 
-    
     <param name="calibration4">                       0.0            0.0        0.0          0.0         0.0       0.0      </param>
     <param name="calibration5">                       0.0            0.0        0.0          0.0         0.0       0.0      </param>
     <param name="calibrationZero">                    0.0            0.0        0.0          0.0         0.0       0.0      </param>
-
-    <param name="calibrationDelta">    10.890     -4.182      3.323     -5.416      0.0     -6.539</param>
-
+    <param name="calibrationDelta">     1.902     -4.369      4.191     -5.082     -9.597     -6.451</param>
     <param name="startupPosition">                    5               15           0        -20.0           0             0             </param>
     <param name="startupVelocity">                    10.0            10.0        10.0      10.0           10.0          10.0          </param>
     <param name="startupMaxPwm">                      3000            3000        3000      3000           3000          3000          </param>
     <param name="startupPosThreshold">                2               2           2         2              2             2             </param>
   </group>
 
-  <param name="CALIB_ORDER">(0) (1) (2) (3) (4) (5)</param>
+  <param name="CALIB_ORDER"> (0) (1) (2) (3) (4) (5) </param>
   <!-- (1) (2) (3) (4) (5) -->
 
   <action phase="startup" level="10" type="calibrate">
diff --git a/iCubGenova09/extra/JOINT_LIMITS.txt b/iCubGenova09/extra/JOINT_LIMITS.txt
new file mode 100644
index 0000000000..0ec85181f9
--- /dev/null
+++ b/iCubGenova09/extra/JOINT_LIMITS.txt
@@ -0,0 +1,33 @@
+left hip pitch    [-47.170, ...]
+left hip roll     [    ]
+left hip yaw       [-80.546 80.739]
+left_knee         [5.817, ...]
+left_ankle_pitch  [-47.060,....]
+left_ankle_roll   [-25.889 25.823]
+
+right hip pitch   [-47.175, ...]
+right hip yaw       [-80.327 80.700]
+right_knee        [5.641,  ...]
+right_ankle_pitch [-46.329,]
+right_ankle_roll  [-27.598, 24.137]
+
+
+left hip pitch  
+left hip roll 
+left hip yaw     
+left_knee         
+left_ankle_pitch  
+left_ankle_roll  
+
+
+right hip pitch
+right hip roll 
+right hip yaw  
+right_knee      
+right_ankle_pitch   
+right_ankle_roll 
+
+
+
+Delta = theta - theta_desired
+
diff --git a/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml b/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml
index d6fcd57c80..40d6e6265a 100644
--- a/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml
+++ b/iCubGenova09/extra/contexts/yarpmanager/cluster-config.xml
@@ -5,7 +5,7 @@
 
 <!-- specify nodes, if you want to enable display on desktop please specify which desktop to use
 this is usually the value of the DISPLAY variable when logged on -->
-<node display=":1" address="10.0.0.158">icub-console</node>
+<node display=":0" address="10.0.0.158">icub-console</node>
 <node display=":0" address="10.0.10.164">icub-console-gui</node>
 <node address="10.0.10.115" user="pi">pi-ifeel</node>
 <node display=":1">icub-cuda</node>
diff --git a/iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml b/iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml
index 6ad8881669..f681d68e41 100644
--- a/iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml
+++ b/iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml
@@ -13,7 +13,8 @@
         <param name="fullscalePWM">     32000              32000           32000  </param>
         <param name="ampsToSensor">     1000.0             1000.0           1000.0  </param>
         <param name="Gearbox_M2J">      100.00             -100.00          100.0  </param>
-        <param name="Gearbox_E2J">   	1                  1                  1</param>
+        <param name="Gearbox_E2J">   	  1                   1              1 </param>
+    <!--<param name="Gearbox_E2J">   	  64                  64             64</param>-->
         <param name="useMotorSpeedFbk"> 1                  1                1  </param>
         <param name="MotorType">       "MOOG_C2900580"     "MOOG_C2900576" "MOOG_C2900576"  </param>
 
@@ -22,8 +23,8 @@
     
     <group name="LIMITS">
         <!--                                 0        1             	2            -->
-        <param name="hardwareJntPosMax">       114            118   80.5      </param>
-        <param name="hardwareJntPosMin">       -47            -20  -80.5      </param>
+        <param name="hardwareJntPosMax">       114            118   80.7      </param>
+        <param name="hardwareJntPosMin">       -47            -16  -80.5      </param>
         <param name="rotorPosMin">            0              0      0   </param> 
         <param name="rotorPosMax">            0              0      0   </param>
     </group>
diff --git a/iCubGenova09/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml b/iCubGenova09/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml
index c7465be58e..80bd459066 100644
--- a/iCubGenova09/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml
+++ b/iCubGenova09/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml
@@ -12,21 +12,22 @@
         <param name="fullscalePWM">           32000     32000               32000           </param>
         <param name="ampsToSensor">           1000.0      1000.0              1000.0         </param>
         <param name="Gearbox_M2J">             100.0    100.0               100.0         </param>
-        <param name="Gearbox_E2J">               1    1.0                1.0          </param>
+    <!--<param name="Gearbox_E2J">               64        64                 32         </param>-->
+        <param name="Gearbox_E2J">               1         1                  1          </param>
         <param name="useMotorSpeedFbk">          1         1                  1            </param>
         <param name="MotorType">           "MOOG_C2900580"  "MOOG_C2900580"      "MOOG_C2900575"  </param>
         <param name="Verbose">   0   </param>
     </group>
 
     <group name="LIMITS">
-        <param name="hardwareJntPosMax">       6     45            25     </param>
-        <param name="hardwareJntPosMin">     -80    -45           -25     </param>
-        <param name="rotorPosMin">           0      0             0     </param> 
-        <param name="rotorPosMax">           0      0             0     </param>
+        <param name="hardwareJntPosMax">      6      38           25     </param>
+        <param name="hardwareJntPosMin">     -80    -47          -25     </param>
+        <param name="rotorPosMin">            0      0             0     </param> 
+        <param name="rotorPosMax">            0      0             0     </param>
     </group>
 
     <group name="2FOC">
-		<param name="AutoCalibration">      0           0             0       </param>
+        <param name="AutoCalibration">      0           0             0       </param>
         <param name="Verbose">              0           0             0       </param>	
         <param name="HasHallSensor">        0           0             0       </param>
         <param name="HasTempSensor">        0           0             0       </param>
diff --git a/iCubGenova09/hardware/motorControl/face-eb22-j0-mc.xml b/iCubGenova09/hardware/motorControl/face-eb22-j0-mc.xml
index a805716a13..5ee2a2aad4 100644
--- a/iCubGenova09/hardware/motorControl/face-eb22-j0-mc.xml
+++ b/iCubGenova09/hardware/motorControl/face-eb22-j0-mc.xml
@@ -47,9 +47,9 @@
         <param name="outputType">               pwm             </param>
         <param name="fbkControlUnits">          metric_units    </param>
         <param name="outputControlUnits">       machine_units   </param>
-        <param name="kp">                       600.00            </param>
+        <param name="kp">                       700.00            </param>
         <param name="kd">                       0.0                 </param>
-        <param name="ki">                       100.0                 </param>
+        <param name="ki">                       700.0               </param>
         <param name="maxOutput">                3360                </param>
         <param name="maxInt">                   3360                </param>
         <param name="stictionUp">               0                   </param>
diff --git a/iCubGenova09/hardware/motorControl/left_arm-eb26-j12_15-mc.xml b/iCubGenova09/hardware/motorControl/left_arm-eb26-j12_15-mc.xml
index bc91d76239..8dca7ad2e5 100644
--- a/iCubGenova09/hardware/motorControl/left_arm-eb26-j12_15-mc.xml
+++ b/iCubGenova09/hardware/motorControl/left_arm-eb26-j12_15-mc.xml
@@ -47,9 +47,9 @@
         <param name="outputType">             pwm                       </param>
         <param name="fbkControlUnits">        metric_units              </param> 
         <param name="outputControlUnits">     machine_units             </param>
-        <param name="kp">                   -500        500         500        -200         </param>
+        <param name="kp">                   -500        300         500        -200         </param>
         <param name="kd">                   0           0           0           0           </param>
-        <param name="ki">                   -50         50          50         -20          </param>
+        <param name="ki">                   -50         50          50         -30          </param>
         <param name="maxOutput">            3360        3360        3360        3360        </param>
         <param name="maxInt">               3360        3360        3360        3360        </param>
         <param name="stictionUp">           0           0           0           0           </param>
diff --git a/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml b/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml
index a692a68aab..9c355a47a5 100644
--- a/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml
+++ b/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml
@@ -13,7 +13,7 @@
     <!-- joint name -->
     <group name="LIMITS">
         <param name="jntPosMax">                110                 100       70        </param>
-        <param name="jntPosMin">                -40                 -5        -70       </param>
+        <param name="jntPosMin">                -40                 -15        -70       </param>
         <param name="jntVelMax">                240                 240       240       </param>
         <param name="motorNominalCurrents">     15000               15000     5000      </param>
         <param name="motorPeakCurrents">        20000               20000     10000     </param>
diff --git a/iCubGenova09/hardware/motorControl/right_arm-eb28-j8_11-mc.xml b/iCubGenova09/hardware/motorControl/right_arm-eb28-j8_11-mc.xml
index 02f5984861..064d3cb61c 100644
--- a/iCubGenova09/hardware/motorControl/right_arm-eb28-j8_11-mc.xml
+++ b/iCubGenova09/hardware/motorControl/right_arm-eb28-j8_11-mc.xml
@@ -48,7 +48,7 @@
         <param name="outputType">           pwm                       </param>
         <param name="fbkControlUnits">      metric_units              </param> 
         <param name="outputControlUnits">   machine_units             </param>
-        <param name="kp">                   -500        500         -500        500         </param>
+        <param name="kp">                   -150        150         -500        500         </param>
         <param name="kd">                   0           0           0           0           </param>
         <param name="ki">                   -50         50          -50         50          </param>
    <!-- to fix problem in https://github.com/robotology/icub-tech-support/issues/1048 the values are changed-->
diff --git a/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml b/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml
index 274e77dd81..609338f0fc 100644
--- a/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml
+++ b/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml
@@ -13,7 +13,7 @@
     <!-- joint name -->
     <group name="LIMITS">
         <param name="jntPosMax">                110                 100       70        </param>
-        <param name="jntPosMin">                -40                 -5        -70       </param>
+        <param name="jntPosMin">                -40                 -15        -70       </param>
         <param name="jntVelMax">                240                 240       240       </param>
         <param name="motorNominalCurrents">     15000               15000     5000      </param>
         <param name="motorPeakCurrents">        20000               20000     10000     </param>
diff --git a/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml b/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml
index 84c7d40368..e880336e96 100644
--- a/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml
+++ b/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml
@@ -28,7 +28,7 @@
             
             
 
-            <group name="JOINTMAPPING">
+            <group name="JOINTMAPPING">  
 
                 <group name="ACTUATOR">                
                     <param name="type">             foc                 foc         foc        </param>
@@ -39,7 +39,8 @@
                     <param name="type">             amo                 amo         amo        </param>  
                     <param name="port">             CONN:P6             CONN:P7     CONN:P8    </param>
                     <param name="position">         atjoint             atjoint     atjoint    </param>
-                    <param name="resolution">       -1048576           -1048576    -1048576    </param> 
+                <!--<param name="resolution">       -16384             -16384      -16384      </param>-->
+                    <param name="resolution">      -1048576            -1048576    -1048576    </param>      
                     <param name="tolerance">        0.703               0.703       0.703      </param>  
                 </group>        
                 
diff --git a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml
index 7ed4d4ebb4..eba4c88c06 100644
--- a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml
+++ b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml
@@ -12,7 +12,7 @@
     <!-- joint number                              0         1                   2                   -->
     <group name="LIMITS">
         <param name="jntPosMax">                3        32                  23                  </param>
-        <param name="jntPosMin">                -70     -43                 -23                 </param>
+        <param name="jntPosMin">                -70     -45                 -23                 </param>
         <param name="jntVelMax">                240      240                 240                 </param>
         <param name="motorNominalCurrents">     10000    10000               10000               </param>
         <param name="motorPeakCurrents">        15000    15000               15000               </param>
diff --git a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml
index d18904d24f..d6aec1c1e0 100644
--- a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml
+++ b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml
@@ -38,8 +38,9 @@
                     <param name="type">          amo         amo                amo                 </param>  
                     <param name="port">          CONN:P7     CONN:P6            CONN:P8             </param>
                     <param name="position">      atjoint     atjoint            atjoint             </param> 
-                    <param name="resolution">   1048576     -1048576           1048576             </param>
-                    <param name="tolerance">     0.703       0.703               0.703               </param>  
+                <!--<param name="resolution">    16384      -16384              16384               </param>-->
+                    <param name="resolution">    1048576     -1048576            1048576            </param>
+                    <param name="tolerance">     0.703       0.703               0.703              </param>  
                 </group>        
                 
                 <group name="ENCODER2">
diff --git a/iCubGenova09/icubEyes.ini b/iCubGenova09/icubEyes.ini
index 98d1678af1..2e43e322c5 100644
--- a/iCubGenova09/icubEyes.ini
+++ b/iCubGenova09/icubEyes.ini
@@ -3,32 +3,32 @@
 projection         pinhole
 drawCenterCross    0
 
-w  320
-h  240
-fx 234.305
-fy 234.105
-cx 178.308
-cy 126.216
-k1 -0.392689
-k2 0.128257
-p1 -0.000703228
-p2 0.00141878
+w  1024
+h  768
+fx 746.539
+fy 751.274
+cx 559.26
+cy 355.631
+k1 -0.467452
+k2 0.245837
+p1 0.00379421
+p2 0.00670889
 
 [CAMERA_CALIBRATION_LEFT]
 
 projection         pinhole
 drawCenterCross    0
 
-w  320
-h  240
-fx 233.625
-fy 233.556
-cx 177.975
-cy 136.554
-k1 -0.38994
-k2 0.126949
-p1 0.00016208
-p2 0.00177482
+w  1024
+h  768
+fx 726.389
+fy 728.673
+cx 548.169
+cy 371.598
+k1 -0.434368
+k2 0.219995
+p1 0.00347889
+p2 -0.0014471
 
 [CAMERA_CALIBRATION_CONFIGURATION_LEFT]
 
@@ -58,6 +58,6 @@ boardSize 0.09241
 numberOfPairs 30
 
 [STEREO_DISPARITY]
-HN (0.997735 0.0572752 0.0352903 -0.0673139 -0.0589052 0.997155 0.0470234 0.001888 -0.0324966 -0.0489957 0.99827 0.00142079 0 0 0 1)
-QL ( 0.000000	 0.000000	 0.000000	-0.000096	 0.000192	 0.003068	 0.000000	 0.001294)
-QR ( 0.000000	 0.000000	 0.000000	-0.000096	 0.000192	 0.003068	 0.000000	 0.000431)
+HN (0.998748 0.0418866 0.0273391 -0.232222 -0.0416763 0.999097 -0.00821842 -0.0045673 -0.0276587 0.00706874 0.999592 0.014123 0 0 0 1)
+QL ( 0.000000	 0.000000	 0.000000	 0.000000	 0.000000	-0.004602	 0.000000	-0.000863)
+QR ( 0.000000	 0.000000	 0.000000	 0.000000	 0.000000	-0.004602	 0.000000	-0.000863)
diff --git a/iCubGenova09/icub_left_leg.xml b/iCubGenova09/icub_left_leg.xml
index ff551ca1ab..32e88472f0 100644
--- a/iCubGenova09/icub_left_leg.xml
+++ b/iCubGenova09/icub_left_leg.xml
@@ -9,10 +9,9 @@
     
     <devices>
     <!-- LEFT LEG -->
-    <xi:include href="hardware/motorControl/left_leg-eb6-j0_1-mc.xml" />
-    <xi:include href="hardware/motorControl/left_leg-eb7-j2_3-mc.xml" />
-    <xi:include href="hardware/motorControl/left_leg-eb8-j4_5-mc.xml" />
-    <xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" /> 
+    <xi:include href="hardware/motorControl/left_leg-eb7-j0_2-mc.xml" />
+    <xi:include href="hardware/motorControl/left_leg-eb8-j3_5-mc.xml" />
+    <xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
 
 
         <!--  CALIBRATORS -->
diff --git a/iCubGenova09/test_left_arm.xml b/iCubGenova09/test_left_arm.xml
index 0052b4eb07..4a99289f24 100644
--- a/iCubGenova09/test_left_arm.xml
+++ b/iCubGenova09/test_left_arm.xml
@@ -26,10 +26,9 @@
 
 
     <!-- ANALOG SENSOR MAIS -->
-<!--
+
     <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" /> 
     <xi:include href="hardware/MAIS/left_arm-eb26-j12_15-mais.xml" />     
-  -->
 
 <!--
     <xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" /> 
diff --git a/iCubGenova09/test_right_arm.xml b/iCubGenova09/test_right_arm.xml
index 507598e40f..5acc68ca8f 100644
--- a/iCubGenova09/test_right_arm.xml
+++ b/iCubGenova09/test_right_arm.xml
@@ -25,10 +25,10 @@
     <xi:include href="hardware/MAIS/left_arm-eb26-j12_15-mais.xml" />     
   -->
 
-<!--
+
     <xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" /> 
     <xi:include href="hardware/MAIS/right_arm-eb29-j12_15-mais.xml" />  
-  -->
+