diff --git a/experimentalSetups/iCubGenova02-VelCtrl/hardware/mechanicals/head-eb21-j2_5-mec.xml b/experimentalSetups/iCubGenova02-VelCtrl/hardware/mechanicals/head-eb21-j2_5-mec.xml
index b6eee640ac..1ec7047691 100644
--- a/experimentalSetups/iCubGenova02-VelCtrl/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/experimentalSetups/iCubGenova02-VelCtrl/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/mechanicals/head-eb21-j2_5-mec.xml b/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/mechanicals/head-eb21-j2_5-mec.xml
index 63f0d9630f..e0a52519b4 100644
--- a/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/experimentalSetups/iCubGenovaV3-VelCtrl/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/experimentalSetups/iCubGenovaV3/hardware/mechanicals/head-eb21-j2_5-mec.xml b/experimentalSetups/iCubGenovaV3/hardware/mechanicals/head-eb21-j2_5-mec.xml
index 63f0d9630f..e0a52519b4 100644
--- a/experimentalSetups/iCubGenovaV3/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/experimentalSetups/iCubGenovaV3/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubEdinburgh01/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubEdinburgh01/hardware/mechanicals/head-eb21-j2_5-mec.xml
index b912ffd4c7..a1be136d68 100644
--- a/iCubEdinburgh01/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubEdinburgh01/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -41,7 +41,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubErzelli01/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubErzelli01/hardware/mechanicals/head-eb21-j2_5-mec.xml
index b978de8109..b658fa0f51 100644
--- a/iCubErzelli01/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubErzelli01/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubErzelli02/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubErzelli02/hardware/mechanicals/head-eb21-j2_5-mec.xml
index c888741d88..397207b11c 100644
--- a/iCubErzelli02/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubErzelli02/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubErzelli03/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubErzelli03/hardware/mechanicals/head-eb21-j2_5-mec.xml
index 12eb5ef588..33c0f3e501 100644
--- a/iCubErzelli03/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubErzelli03/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubGenova02/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubGenova02/hardware/mechanicals/head-eb21-j2_5-mec.xml
index d449710ffa..18fd387635 100644
--- a/iCubGenova02/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubGenova02/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubGenova07/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubGenova07/hardware/mechanicals/head-eb21-j2_5-mec.xml
index ea4710b43e..b9f6f1a912 100644
--- a/iCubGenova07/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubGenova07/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubGenova08/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubGenova08/hardware/mechanicals/head-eb21-j2_5-mec.xml
index a5a0148919..b7aedb5236 100644
--- a/iCubGenova08/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubGenova08/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubGenova10/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubGenova10/hardware/mechanicals/head-eb21-j2_5-mec.xml
index 4fac328ff9..baf6be9816 100644
--- a/iCubGenova10/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubGenova10/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubGenova11/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubGenova11/hardware/mechanicals/head-eb21-j2_5-mec.xml
index 9dbface2d6..e2c0bde7b1 100644
--- a/iCubGenova11/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubGenova11/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubLisboa01/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubLisboa01/hardware/mechanicals/head-eb21-j2_5-mec.xml
index d5978ef66c..5f6ae033ce 100644
--- a/iCubLisboa01/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubLisboa01/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubPrague01/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubPrague01/hardware/mechanicals/head-eb21-j2_5-mec.xml
index b583a3e0db..27e748862d 100644
--- a/iCubPrague01/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubPrague01/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubShanghai01/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubShanghai01/hardware/mechanicals/head-eb21-j2_5-mec.xml
index e43e30ad19..74056e2fab 100644
--- a/iCubShanghai01/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubShanghai01/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubShenzhen01/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubShenzhen01/hardware/mechanicals/head-eb21-j2_5-mec.xml
index 5f686586ee..473ce97bb2 100644
--- a/iCubShenzhen01/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubShenzhen01/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubSingapore01/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubSingapore01/hardware/mechanicals/head-eb21-j2_5-mec.xml
index 2a098c61e5..9894aa72a0 100644
--- a/iCubSingapore01/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubSingapore01/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubValparaiso01/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubValparaiso01/hardware/mechanicals/head-eb21-j2_5-mec.xml
index 4e1323885a..52edca8d40 100644
--- a/iCubValparaiso01/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubValparaiso01/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubWaterloo01/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubWaterloo01/hardware/mechanicals/head-eb21-j2_5-mec.xml
index d38289ef41..47d832e695 100644
--- a/iCubWaterloo01/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubWaterloo01/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">  
diff --git a/iCubZagreb01/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubZagreb01/hardware/mechanicals/head-eb21-j2_5-mec.xml
index f65930823c..0265201dd3 100644
--- a/iCubZagreb01/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubZagreb01/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -42,7 +42,7 @@
             1.000   0.000   0.000   0.000
             0.000   1.000   0.000   0.000
             0.000   0.000   0.500   0.500
-            0.000   0.000  -0.500   0.500   
+            0.000   0.000  -1.000   1.000   
         </param>
        
         <param name ="matrixE2J">