diff --git a/ergoCubSN000/calibrators/torso-calib.xml b/ergoCubSN000/calibrators/torso-calib.xml
index a40d1264ed..7866ae5dc4 100644
--- a/ergoCubSN000/calibrators/torso-calib.xml
+++ b/ergoCubSN000/calibrators/torso-calib.xml
@@ -39,7 +39,7 @@
 
  <!-- Joint 1 has been removed from the calibration order for motor safety -->
  <!-- <param name="CALIB_ORDER">(0) (1) (2) </param> --> <!-- Don't remove this line -->
-		<param name="CALIB_ORDER">(0) (2) </param>
+		<param name="CALIB_ORDER">(0) (1) (2) </param>
 
 		<action phase="startup" level="10" type="calibrate">
 		    <param name="target">torso-eb5-j0_2-mc</param>
diff --git a/ergoCubSN000/estimators/wholebodydynamics.xml b/ergoCubSN000/estimators/wholebodydynamics.xml
index 6521911980..be5bd1f681 100644
--- a/ergoCubSN000/estimators/wholebodydynamics.xml
+++ b/ergoCubSN000/estimators/wholebodydynamics.xml
@@ -3,7 +3,7 @@
 
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="wholebodydynamics" type="wholebodydynamics">
-        <param name="axesNames">(torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,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,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
+        <param name="axesNames">(torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,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,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
         <param name="modelFile">model.urdf</param>
         <param name="fixedFrameGravity">(0,0,-9.81)</param>
 	<param name="defaultContactFrames">(l_hand_palm,r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg)</param>
@@ -34,7 +34,7 @@
         <group name="GRAVITY_COMPENSATION">
             <param name="enableGravityCompensation">true</param>
             <param name="gravityCompensationBaseLink">root_link</param>
-            <param name="gravityCompensationAxesNames">(torso_roll,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
+            <param name="gravityCompensationAxesNames">(torso_pitch,torso_roll,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
         </group>
 
 
diff --git a/ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml
index 6fce7f483a..8c32c2ab10 100644
--- a/ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml
+++ b/ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml
@@ -12,7 +12,7 @@
     <!-- joint name                          shoulder_pitch        shoulder_roll        -->
     <group name="LIMITS">
         <param name="jntPosMax">                14                  130                 </param>
-        <param name="jntPosMin">                -88                 0                  </param>
+        <param name="jntPosMin">                -130                 0                  </param>
         <param name="jntVelMax">                120                 120                 </param>
         <param name="motorNominalCurrents">     5000                5000                </param>
         <param name="motorPeakCurrents">        12000               12000               </param>
diff --git a/ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml b/ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
index a399c97343..3f9e40ccbd 100644
--- a/ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
+++ b/ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
@@ -17,7 +17,7 @@
         <param name="jntPosMax">                72                  85                  85                  85                 </param>
         <param name="jntVelMax">                1000                1000                1000                1000               </param>
         <param name="motorOverloadCurrents">    2000                2000                2000                2000               </param>
-        <param name="motorNominalCurrents">     700                 700                 700                 700                </param>
+        <param name="motorNominalCurrents">     1100                1100                1100                1100                </param>
         <param name="motorPeakCurrents">        1500                1500                1500                1500               </param>    
         <param name="motorPwmLimit">            3360                3360                3360                3360               </param>
     </group>       
@@ -51,7 +51,7 @@
         <param name="kp">                       -200        -200        -200        -200    </param>
         <param name="kd">                       -10         -10         -10         -10     </param>
         <param name="ki">                       -10         -10         -10         -10     </param>
-        <param name="maxOutput">                2000        2000        2000        2000    </param>
+        <param name="maxOutput">                2700        2700        2700        2700    </param>
         <param name="maxInt">                   1000        1000        1000        1000    </param>
         <param name="stictionUp">               0           0           0           0       </param>
         <param name="stictionDown">             0           0           0           0       </param>
diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml
index d54bf91663..0196c189a4 100644
--- a/ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml
+++ b/ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml
@@ -13,7 +13,7 @@
     <!-- joint name                          shoulder_pitch            shoulder_roll    -->
     <group name="LIMITS">
         <param name="jntPosMax">                14                  130                </param>
-        <param name="jntPosMin">                -88                 0                  </param>
+        <param name="jntPosMin">                -130                 0                  </param>
         <param name="jntVelMax">                120                 120                 </param>
         <param name="motorNominalCurrents">     5000                5000                </param>
         <param name="motorPeakCurrents">        12000               12000               </param>
diff --git a/ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml b/ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
index e67c465799..1cf6a5bde3 100644
--- a/ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
+++ b/ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
@@ -17,7 +17,7 @@
         <param name="jntPosMax">                70                  63                  85                  85                 </param>
         <param name="jntVelMax">                1000                1000                1000                1000               </param>
         <param name="motorOverloadCurrents">    2000                2000                2000                2000               </param>
-        <param name="motorNominalCurrents">     700                 700                 700                 700                </param>
+        <param name="motorNominalCurrents">     1100                1100                1100                1100                </param>
         <param name="motorPeakCurrents">        1500                1500                1500                1500               </param>    
         <param name="motorPwmLimit">            3360                3360                3360                3360               </param>
     </group>       
@@ -51,7 +51,7 @@
         <param name="kp">                       -200        -200        -200        -200    </param>
         <param name="kd">                       -10         -10         -10         -10     </param>
         <param name="ki">                       -10         -10         -10         -10     </param>
-        <param name="maxOutput">                2000        2000        2000        2000    </param>
+        <param name="maxOutput">                2700        2700        2700        2700    </param>
         <param name="maxInt">                   1000        1000        1000        1000    </param>
         <param name="stictionUp">               0           0           0           0       </param>
         <param name="stictionDown">             0           0           0           0       </param>
diff --git a/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
index ed57f0cf7a..666ba04157 100644
--- a/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
+++ b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
@@ -16,8 +16,8 @@
         <param name="jntPosMax">                23                  45                  43                  </param>
         <param name="jntPosMin">                -23                 -18                 -43                 </param>
         <param name="jntVelMax">                120                 120                 120                 </param>
-        <param name="motorNominalCurrents">     3770                3770                5000                </param>
-        <param name="motorPeakCurrents">        14000               14000               10000                </param>
+        <param name="motorNominalCurrents">     3770                16000                5000               </param>
+        <param name="motorPeakCurrents">        14000               17000               10000               </param>
         <param name="motorOverloadCurrents">    18000               18000               15000               </param>
         <param name="motorPwmLimit">            16000               16000               16000               </param>
     </group>
diff --git a/ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml b/ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml
index e9b6054d2e..364f1cad0c 100644
--- a/ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml
+++ b/ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml
@@ -2,13 +2,14 @@
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-mc_remapper" type="controlboardremapper">
-    <!--
-    These are the regular parameters 
+
+    <!-- These are the regular parameters -->
     <param name="axesNames">(neck_pitch,neck_roll,neck_yaw,camera_tilt,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch,l_thumb_add,l_thumb_oc,l_index_add,l_index_oc,l_middle_oc,l_ring_pinky_oc,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch,r_thumb_add,r_thumb_oc,r_index_add,r_index_oc,r_middle_oc,r_ring_pinky_oc,torso_roll,torso_pitch,torso_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
-    -->
-    <!-- These are the parameters with torso_pitch removed -->
-    <param name="axesNames">(neck_pitch,neck_roll,neck_yaw,camera_tilt,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch,l_thumb_add,l_thumb_oc,l_index_add,l_index_oc,l_middle_oc,l_ring_pinky_oc,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch,r_thumb_add,r_thumb_oc,r_index_add,r_index_oc,r_middle_oc,r_ring_pinky_oc,torso_roll,torso_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
-    <param name="joints"> 44 </param>
+
+    <!-- <!-\- These are the parameters with torso_pitch removed -\-> -->
+    <!-- <param name="axesNames">(neck_pitch,neck_roll,neck_yaw,camera_tilt,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch,l_thumb_add,l_thumb_oc,l_index_add,l_index_oc,l_middle_oc,l_ring_pinky_oc,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch,r_thumb_add,r_thumb_oc,r_index_add,r_index_oc,r_middle_oc,r_ring_pinky_oc,torso_roll,torso_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param> -->
+
+    <param name="joints"> 45 </param>
     <action phase="startup" level="6" type="attach">
         <paramlist name="networks">
             <elem name="head_joints">       head-mc_remapper </elem>
@@ -20,4 +21,4 @@
         </paramlist>
     </action>
     <action phase="shutdown" level="19" type="detach" />
-</device>
\ No newline at end of file
+</device>