diff --git a/iCubGenova03/calibrators/left_arm_calib.xml b/iCubGenova03/calibrators/left_arm_calib.xml
index a059d16134..cdd46e4a64 100644
--- a/iCubGenova03/calibrators/left_arm_calib.xml
+++ b/iCubGenova03/calibrators/left_arm_calib.xml
@@ -37,7 +37,7 @@
  
         <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>        
 
-        <action phase="startup" level="15" type="calibrate">           
+        <action phase="startup" level="10" type="calibrate">           
             <param name="target">left_arm_mc_remapper</param>     
         </action>            
  
diff --git a/iCubGenova03/calibrators/right_arm_calib.xml b/iCubGenova03/calibrators/right_arm_calib.xml
index 05ed2ccb57..c96542b92b 100644
--- a/iCubGenova03/calibrators/right_arm_calib.xml
+++ b/iCubGenova03/calibrators/right_arm_calib.xml
@@ -34,7 +34,7 @@
  
        <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>         
                
-        <action phase="startup" level="15" type="calibrate">           
+        <action phase="startup" level="10" type="calibrate">           
             <param name="target">right_arm_mc_remapper</param>    
         </action>            
  
diff --git a/iCubGenova03/hardware/motorControl/icub_left_hand.xml b/iCubGenova03/hardware/motorControl/icub_left_hand.xml
index 81c76c3ad1..e6088e2d80 100644
--- a/iCubGenova03/hardware/motorControl/icub_left_hand.xml
+++ b/iCubGenova03/hardware/motorControl/icub_left_hand.xml
@@ -31,8 +31,8 @@
 <param name="AxisMap">      0             1             2             3             4             5             6             7             </param>       
 <param name="AxisName">     "l_thumb_oppose"     "l_thumb_proximal"     "l_thumb_distal"   "l_index_proximal"    "l_index_distal"    "l_middle_proximal"   "l_middle_distal"    "l_pinky"  </param>
 <param name="AxisType">    "revolute"  "revolute"    "revolute"    "revolute"   "revolute"     "revolute"   "revolute"     "revolute"       </param>
-<param name="Encoder">                                                                                                    22.878   -2.556   -2.518   -2.278   -2.347   -2.700   -2.347   -2.204   </param>
-<param name="Zeros">                                                                                                      70.85    -98.58   -192.64  -110.63  -214.29  -89.00   -217.29  -333.88  </param>
+<param name="Encoder">                                                                                                    22.878   -2.556   -2.518   -2.278   -1.876   -2.700   -2.347   -2.204   </param>
+<param name="Zeros">                                                                                                      70.85    -98.58   -192.64  -110.63  -229.15  -89.00   -217.29  -333.88  </param>
 <param name="fullscalePWM">           1333            1333         1333      1333     1333    1333     1333    1333  </param>
 <param name="ampsToSensor">           1000.0          1000.0       1000.0    1000.0   1000.0  1000.0   1000.0  1000.0   </param>
 <param name="TorqueId">     0             0             0             0             0             0             0             0             </param>       
@@ -59,9 +59,9 @@
 </group>       
  
 <group name="POS_PIDS">      
-<param name="kp">           -8000         -8000         -8000          -8000         -8000          -8000         -8000         120           </param>       
-<param name="kd">           -32000        -32000        -32000         -32000        -32000         -32000        -32000        1250          </param>       
-<param name="ki">           -5            -5            -5             -5            -5             -5            -5            0             </param>       
+<param name="kp">           -8000         -8000         -8000          -8000         8000          -8000         -8000         120           </param>       
+<param name="kd">           -32000        -32000        -32000         -32000        32000         -32000        -32000        1250          </param>       
+<param name="ki">           -5            -5            -5             -5            5             -5            -5            0             </param>       
 <param name="maxOutput">       1333          1333          1333          1333          1333          1333          1333          1333          </param>       
 <param name="maxInt">       1333          1333          1333          1333          1333          1333          1333          1333          </param>       
 <param name="shift">        10            10            10            8             10            10            10            4             </param>       
diff --git a/iCubGenova03/icub_all.xml b/iCubGenova03/icub_all.xml
index 6e5c1ebc7f..f072e82b1b 100644
--- a/iCubGenova03/icub_all.xml
+++ b/iCubGenova03/icub_all.xml
@@ -9,54 +9,54 @@
     <!-- motor controllers wrappers -->
     <xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
     <xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
-    <xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
+    <!-- <xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" /> -->
     <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
     <xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
     <xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" />
     <xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
     <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
     <xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
-    <xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
-    <xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" />
+    <!-- <xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" /> -->
     <xi:include href="hardware/motorControl/icub_left_arm.xml" />
     <xi:include href="hardware/motorControl/icub_left_hand.xml" />
     <xi:include href="hardware/motorControl/icub_right_arm.xml" />
     <xi:include href="hardware/motorControl/icub_right_hand.xml" />
-    <xi:include href="hardware/motorControl/icub_left_leg.xml" />
-    <xi:include href="hardware/motorControl/icub_right_leg.xml" />
+    <!-- <xi:include href="hardware/motorControl/icub_left_leg.xml" />
+    <xi:include href="hardware/motorControl/icub_right_leg.xml" /> -->
     <xi:include href="hardware/motorControl/icub_head.xml" />
     <xi:include href="hardware/motorControl/icub_torso.xml" />
 
 
     <!-- VIRTUAL ANALOG SERVERs -->
     <xi:include href="wrappers/VFT/left_arm_VFT_wrapper.xml" />
-    <xi:include href="wrappers/VFT/left_leg_VFT_wrapper.xml" />
+    <!-- <xi:include href="wrappers/VFT/left_leg_VFT_wrapper.xml" /> -->
     <xi:include href="wrappers/VFT/right_arm_VFT_wrapper.xml" />
-    <xi:include href="wrappers/VFT/right_leg_VFT_wrapper.xml" />
+    <!-- <xi:include href="wrappers/VFT/right_leg_VFT_wrapper.xml" /> -->
     <xi:include href="wrappers/VFT/torso_VFT_wrapper.xml" />
 
     <xi:include href="hardware/VFT/left_arm_virtual_strain.xml" />
-    <xi:include href="hardware/VFT/left_leg_virtual_strain.xml" />
+    <!-- <xi:include href="hardware/VFT/left_leg_virtual_strain.xml" /> -->
     <xi:include href="hardware/VFT/right_arm_virtual_strain.xml" />
-    <xi:include href="hardware/VFT/right_leg_virtual_strain.xml" />
+    <!-- <xi:include href="hardware/VFT/right_leg_virtual_strain.xml" /> -->
     <xi:include href="hardware/VFT/torso_virtual_strain.xml" />
 
     <!-- REAL ANALOG SENSORS -->
     <xi:include href="wrappers/FT/left_arm_FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
-    <xi:include href="wrappers/FT/left_leg_FT_wrapper.xml" />
+    <!-- <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
+    <xi:include href="wrappers/FT/left_leg_FT_wrapper.xml" /> -->
     <xi:include href="wrappers/FT/right_arm_FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/right_leg_FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
+    <!-- <xi:include href="wrappers/FT/right_leg_FT_wrapper.xml" />
+    <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" /> -->
     <xi:include href="wrappers/MAIS/left_hand_mais_wrapper.xml" />
     <xi:include href="wrappers/MAIS/right_hand_mais_wrapper.xml" />
     <xi:include href="hardware/FT/left_arm_strain.xml" />
-    <xi:include href="hardware/FT/left_leg_strain.xml" />
-    <xi:include href="hardware/FT/left_foot_strain.xml" />
+    <!-- <xi:include href="hardware/FT/left_leg_strain.xml" /> -->
+    <!-- <xi:include href="hardware/FT/left_foot_strain.xml" /> -->
     <xi:include href="hardware/FT/right_arm_strain.xml" />
-    <xi:include href="hardware/FT/right_leg_strain.xml" />
-    <xi:include href="hardware/FT/right_foot_strain.xml" />
+    <!-- <xi:include href="hardware/FT/right_leg_strain.xml" /> -->
+    <!-- <xi:include href="hardware/FT/right_foot_strain.xml" /> -->
     <xi:include href="hardware/MAIS/left_hand_mais.xml" />
     <xi:include href="hardware/MAIS/right_hand_mais.xml" />
 
@@ -69,7 +69,7 @@
     <xi:include href="hardware/skin/torso.xml" />
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
-    <xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
+    <!-- <xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
     <xi:include href="wrappers/inertials/head-imuFilter.xml" />
     <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
     <xi:include href="hardware/inertials/head-inertial.xml" />
@@ -77,14 +77,14 @@
     <xi:include href="wrappers/skin/left_hand_inertial_wrapper.xml" />
     <xi:include href="wrappers/skin/right_hand_inertial_wrapper.xml" />
     <xi:include href="hardware/skin/left_hand_inertial_mtb.xml" />
-    <xi:include href="hardware/skin/right_hand_inertial_mtb.xml" />
+    <xi:include href="hardware/skin/right_hand_inertial_mtb.xml" />  -->
 
 
     <!-- CALIBRATORS -->
     <xi:include href="calibrators/head_calib.xml" />
     <xi:include href="calibrators/torso_calib.xml" />
-    <xi:include href="calibrators/right_leg_calib.xml" />
-    <xi:include href="calibrators/left_leg_calib.xml" />
+    <!-- <xi:include href="calibrators/right_leg_calib.xml" />
+    <xi:include href="calibrators/left_leg_calib.xml" /> -->
     <xi:include href="calibrators/left_arm_calib.xml" />
     <xi:include href="calibrators/right_arm_calib.xml" />
     <xi:include href="calibrators/left_hand_calib.xml" />