diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml
index 3c027b8886..0dc2385ff3 100644
--- a/iCubGenova09/calibrators/left_arm-calib.xml
+++ b/iCubGenova09/calibrators/left_arm-calib.xml
@@ -18,13 +18,13 @@
 <group name="CALIBRATION">                                                      
 <param name="calibrationType">        12          12          12         12          5       12      12      7       7       6       6       6       6       6       6       6       </param> <!-- 
 <param name="calibration1">           -54795      22399       44679      53215    -1500     -8335   10671    0       0       0       0       0       0       0       0       0       </param> -->
-<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       2045    448     240     484     243     483     255     480     725     </param>
-<param name="calibration5">           0           0           0          0           0       0       0       2140    2712    0       9       15      8      20      45      125     </param>
+<param name="calibration1">           -13691      19668       44530      53215    -1500     63919   12031     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       1948    325     250     478     243     483     255     480     725     </param>
+<param name="calibration5">           0           0           0          0           0       0       0       2073    2730    9       99       15      8       30      45      125     </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>
+<param name="calibrationDelta">       14          8           0          0           0       0       0       0       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="startupVelocity">        10.0       10.0         10.0      10.0         30      30      30      60      100     100     100     100     100     100     100     100     </param>
@@ -32,7 +32,7 @@
 <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_remapper</param>
diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml
index af942e0129..7b2644cbbe 100644
--- a/iCubGenova09/calibrators/right_arm-calib.xml
+++ b/iCubGenova09/calibrators/right_arm-calib.xml
@@ -17,24 +17,24 @@
 
 
 <group name="CALIBRATION">
-<param name="calibrationType">     12          12          12         12         5       12       12     7       7       6       6       6       6       6       6       6       </param> <!--
-<param name="calibration1">        6576       -12866      -4585      -47529      1500    36903  -12703   0       0       0       0       0       0       0       0       0       </param> -->
-<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       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="calibrationType">     12          12          12         12         5       12       12      7       7       6       6       6       6       6       6       6       </param> <!--
+<param name="calibration1">        6576       -12866      -4585      -47529     1500    36903  -12703     0       0       0       0       0       0       0       0       0       </param> -->
+<param name="calibration1">        5671       -10405      -2085      -47112    1500    36903   -15403     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       2540    1440    255     510     255     476     255     510     764     </param>
+<param name="calibration5">        0           0           0          0          0       0       0       2618    2240    24      40      20      30      0       30      130     </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       10       0      0       0       0       0       0       0       0       </param>
+<param name="calibrationDelta">    11          0           0          0          0      -5.5    -4       10      0       5       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="startupPosition">     -35        30           0         45          0       0       15      25      45      0       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) (8 9) (11) (13) (10) (12) (14) (15) </param> 
 		<action phase="startup" level="10" type="calibrate">
 		    <param name="target">right_arm-mc_remapper</param>
 		</action>
diff --git a/iCubGenova09/extra/scripts/additionalCommands.sh b/iCubGenova09/extra/scripts/additionalCommands.sh
index 1ed97e3940..862796ebd8 100644
--- a/iCubGenova09/extra/scripts/additionalCommands.sh
+++ b/iCubGenova09/extra/scripts/additionalCommands.sh
@@ -27,6 +27,9 @@ alias connectToJoypad='sudo expect ${ADDITIONAL_COMMANDS_DIR}/bluetoothConnect.s
 # Go to DCM folder
 alias dcmFolder='cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/walking-controllers/src/WalkingModule/app/robots/${YARP_ROBOT_NAME}'
 
+# Go to Teleoperation folder
+alias teleoperationFolder='cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/src/walking-teleoperation'
+
 # Go to the corresponding build folder in the superbuild
 alias goToBuildSuperbuild='cd ../../build/src/${PWD##*/}'
 
diff --git a/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml b/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml
index 54a333f769..a6e80d03d0 100644
--- a/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml
+++ b/iCubGenova09/hardware/mechanicals/left_arm-eb1-j0_1-mec.xml
@@ -20,8 +20,8 @@
     
     <group name="LIMITS">
         <!--                                    0                   1              -->
-        <param name="hardwareJntPosMax">        16                165                 </param>  
-        <param name="hardwareJntPosMin">       -90                  0                 </param>
+        <param name="hardwareJntPosMax">        25                165                 </param>
+        <param name="hardwareJntPosMin">       -180                 0                 </param>
         <param name="rotorPosMin">              0                   0                 </param> 
         <param name="rotorPosMax">              0                   0                 </param>
     </group>
diff --git a/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml b/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml
index 86d3146e87..d5c6626456 100644
--- a/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml
+++ b/iCubGenova09/hardware/mechanicals/right_arm-eb3-j0_1-mec.xml
@@ -20,8 +20,8 @@
     
     <group name="LIMITS">
         <!--                                    0                   1                   -->
-        <param name="hardwareJntPosMax">        16                165                  </param>  
-        <param name="hardwareJntPosMin">       -90                  0                   </param>
+        <param name="hardwareJntPosMax">        25                165                   </param>
+        <param name="hardwareJntPosMin">       -180                 0                   </param>
         <param name="rotorPosMin">              0                   0                   </param> 
         <param name="rotorPosMax">              0                   0                   </param>
     </group>
diff --git a/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc.xml b/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc.xml
index ca143b9091..02131c28d2 100644
--- a/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc.xml
+++ b/iCubGenova09/hardware/motorControl/left_arm-eb1-j0_1-mc.xml
@@ -11,8 +11,8 @@
     <!-- joint number                           0                   1                   -->
     <!-- joint name                          shoulder_pitch        shoulder_roll        -->
     <group name="LIMITS">
-        <param name="jntPosMax">                14                  163                 </param>
-        <param name="jntPosMin">                -88                 17                  </param>
+        <param name="jntPosMax">                20                  163                 </param>
+        <param name="jntPosMin">                -175                 17                 </param>
         <param name="jntVelMax">                120                 120                 </param>
         <param name="motorNominalCurrents">     5000                5000                </param>
         <param name="motorPeakCurrents">        12000               12000               </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 926015208f..f565f9c3a8 100644
--- a/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml
+++ b/iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml
@@ -34,7 +34,7 @@
         <param name="positionControl">          POS_PID_DEFAULT     POS_PID_DEFAULT   POS_PID_DEFAULT  </param>
         <param name="velocityControl">          POS_PID_DEFAULT     POS_PID_DEFAULT   POS_PID_DEFAULT  </param>
         <param name="mixedControl">             POS_PID_DEFAULT     POS_PID_DEFAULT   POS_PID_DEFAULT  </param>
-        <param name="torqueControl">            TRQ_PID_DEFAULT     TRQ_PID_DEFAULT   TRQ_PID_DEFAULT  </param>
+        <param name="torqueControl">            TRQ_PID_OUTPUT_CURR     TRQ_PID_OUTPUT_CURR   TRQ_PID_OUTPUT_CURR  </param>
         <param name="currentPid">               2FOC_CUR_CONTROL    2FOC_CUR_CONTROL  2FOC_CUR_CONTROL  </param>
         <param name="speedPid">                 2FOC_VEL_CONTROL    2FOC_VEL_CONTROL  2FOC_VEL_CONTROL  </param>
     </group>
@@ -117,18 +117,18 @@
         <param name="outputType">          current                      </param>
         <param name="fbkControlUnits">     metric_units                 </param>
         <param name="outputControlUnits">  machine_units                </param>
-        <param name="kp">           -150.00     150.00           -200.00         </param>
+        <param name="kp">           -0.0     0.0           -0.0         </param>
         <param name="kd">              0          0                 0         </param>
-        <param name="ki">            -80         50               -80         </param>
+        <param name="ki">            -0         0               -0         </param>
         <param name="maxOutput">    2500       2500              2500         </param>
         <param name="maxInt">        200        200               200         </param>
         <param name="ko">              0          0                 0         </param>
         <param name="stictionUp">      0          0                 0         </param>
         <param name="stictionDown">    0          0                 0         </param>
         <param name="kff">             1          1                 1         </param>
-        <param name="kbemf">          -0.0003     0.0004        -0.0003         </param>
+        <param name="kbemf">          -0.0     0.0       -0.0         </param>
         <param name="filterType">      0          0                 0         </param>
-        <param name="ktau">         -175.56     177.83           -175.74         </param>
+        <param name="ktau">         -50     50           -50         </param>
     </group>
 
     <!-- custom PIDs: end -->
diff --git a/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml b/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml
index 36e5c4de9e..4e78b05580 100644
--- a/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml
+++ b/iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc.xml
@@ -15,8 +15,8 @@
         <param name="jntPosMin">                -70     -43                 -23                 </param>
         <param name="jntVelMax">                240      240                 240                 </param>
         <param name="motorNominalCurrents">     10000    10000               10000               </param>
-        <param name="motorPeakCurrents">        15000    15000               15000               </param>
-        <param name="motorOverloadCurrents">    20000    30000               30000               </param>
+        <param name="motorPeakCurrents">        14000    15000               15000               </param>
+        <param name="motorOverloadCurrents">    19000    30000               30000               </param>
         <param name="motorPwmLimit">            16000    16000               16000               </param>
     </group>
 
@@ -25,7 +25,7 @@
     </group>
 
     <group name="IMPEDANCE">
-        <param name="stiffness">                0.1     0.1                 0.1                 </param>
+        <param name="stiffness">                0.1     30.0                10.0                 </param>
         <param name="damping">                  0.05    0.05                0.05                </param>
     </group>
 
@@ -33,7 +33,7 @@
         <param name="positionControl">        POS_PID_DEFAULT   POS_PID_DEFAULT     POS_PID_DEFAULT     </param>
         <param name="velocityControl">        POS_PID_DEFAULT   POS_PID_DEFAULT     POS_PID_DEFAULT     </param>
         <param name="mixedControl">           POS_PID_DEFAULT   POS_PID_DEFAULT     POS_PID_DEFAULT     </param>
-        <param name="torqueControl">          TRQ_PID_DEFAULT   TRQ_PID_DEFAULT     TRQ_PID_DEFAULT     </param>
+        <param name="torqueControl">          TRQ_PID_OUTPUT_CURR   TRQ_PID_OUTPUT_CURR     TRQ_PID_OUTPUT_CURR     </param>
         <param name="currentPid">             2FOC_CUR_CONTROL  2FOC_CUR_CONTROL    2FOC_CUR_CONTROL    </param>
         <param name="speedPid">               2FOC_VEL_CONTROL  2FOC_VEL_CONTROL    2FOC_VEL_CONTROL    </param>
     </group>
@@ -116,18 +116,18 @@
         <param name="outputType">          current                      </param>
         <param name="fbkControlUnits">     metric_units                 </param>
         <param name="outputControlUnits">  machine_units                </param>
-        <param name="kp">            -150.00    -36.21       -26.77         </param>
+        <param name="kp">            -0.0    -1000       -1000         </param>
         <param name="kd">               0        0            0            </param>
-        <param name="ki">             -80.00     0            0            </param>
+        <param name="ki">             -0.0     -500         -1000            </param>
         <param name="maxOutput">     2500        2500        2500            </param>
         <param name="maxInt">         200        200         200            </param>
         <param name="ko">               0        0           0            </param>
         <param name="stictionUp">       0        0           0            </param>
         <param name="stictionDown">     0        0           0            </param>
         <param name="kff">              1        1           1            </param>
-        <param name="kbemf">         -0.0002    -0.0003     -0.0003       </param>
+        <param name="kbemf">         -0.0    -0.0009     -0.0003       </param>
         <param name="filterType">       0        0           0            </param>
-        <param name="ktau">          -230.10    -162.24    -163.96         </param>
+        <param name="ktau">          -50.0    -128.81    -227.739         </param>
     </group>
     <!-- custom PIDs: end -->
 
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 064d3cb61c..6561edd96a 100644
--- a/iCubGenova09/hardware/motorControl/right_arm-eb28-j8_11-mc.xml
+++ b/iCubGenova09/hardware/motorControl/right_arm-eb28-j8_11-mc.xml
@@ -16,7 +16,7 @@
         <param name="jntPosMin">                10                  0                   0                   0                   </param>
         <param name="jntVelMax">                1000                1000                1000                1000                </param>
         <param name="motorOverloadCurrents">    2000                2000                2000                2000                </param>
-        <param name="motorNominalCurrents">      600                600                 600                 600                 </param>
+        <param name="motorNominalCurrents">      500                500                 600                 600                 </param>
         <param name="motorPeakCurrents">        1000                1000                1000                1000                </param>
    <!-- to fix problem in https://github.com/robotology/icub-tech-support/issues/1048 the values are changed-->
         <param name="motorPwmLimit">            3360                3360                3360                3360                </param>
@@ -48,9 +48,9 @@
         <param name="outputType">           pwm                       </param>
         <param name="fbkControlUnits">      metric_units              </param> 
         <param name="outputControlUnits">   machine_units             </param>
-        <param name="kp">                   -150        150         -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>
+        <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-->
         <param name="maxOutput">            3360        3360        3360        3360        </param>
         <param name="maxInt">               3360        3360        3360        3360        </param>
diff --git a/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc.xml b/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc.xml
index a2628d1019..be3776e575 100644
--- a/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc.xml
+++ b/iCubGenova09/hardware/motorControl/right_arm-eb3-j0_1-mc.xml
@@ -12,8 +12,8 @@
     <!-- joint number                           0                   1                   -->
     <!-- joint name                          shoulder_pitch            shoulder_roll    -->
     <group name="LIMITS">
-        <param name="jntPosMax">                14                  163                </param>
-        <param name="jntPosMin">                -88                 17                  </param>
+        <param name="jntPosMax">                 20                 163                 </param>
+        <param name="jntPosMin">                -175                17                  </param>
         <param name="jntVelMax">                120                 120                 </param>
         <param name="motorNominalCurrents">     5000                5000                </param>
         <param name="motorPeakCurrents">        12000               12000               </param>
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 5600b6791d..e7c2493fce 100644
--- a/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml
+++ b/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml
@@ -34,7 +34,7 @@
         <param name="positionControl">          POS_PID_DEFAULT     POS_PID_DEFAULT   POS_PID_DEFAULT  </param>
         <param name="velocityControl">          POS_PID_DEFAULT     POS_PID_DEFAULT   POS_PID_DEFAULT  </param>
         <param name="mixedControl">             POS_PID_DEFAULT     POS_PID_DEFAULT   POS_PID_DEFAULT  </param>
-        <param name="torqueControl">            TRQ_PID_DEFAULT     TRQ_PID_DEFAULT   TRQ_PID_DEFAULT  </param>
+        <param name="torqueControl">            TRQ_PID_OUTPUT_CURR     TRQ_PID_OUTPUT_CURR   TRQ_PID_OUTPUT_CURR  </param>
         <param name="currentPid">               2FOC_CUR_CONTROL    2FOC_CUR_CONTROL  2FOC_CUR_CONTROL  </param>
         <param name="speedPid">                 2FOC_VEL_CONTROL    2FOC_VEL_CONTROL  2FOC_VEL_CONTROL  </param>
     </group>
@@ -117,18 +117,18 @@
         <param name="outputType">          current                        </param>
         <param name="fbkControlUnits">     metric_units                   </param>
         <param name="outputControlUnits">  machine_units                  </param>
-        <param name="kp">            150.00    -150.00        200.00      </param>
+        <param name="kp">              0         -0             0         </param>
         <param name="kd">              0          0             0         </param>
-        <param name="ki">             80        -50            80         </param>
+        <param name="ki">             0        -0            0         </param>
         <param name="maxOutput">    2500       2500          2500         </param>
         <param name="maxInt">        200        200           200         </param>
         <param name="ko">              0          0             0         </param>
         <param name="stictionUp">      0          0             0         </param>
         <param name="stictionDown">    0          0             0         </param>
         <param name="kff">             1          1             1         </param>
-        <param name="kbemf">           0.0002    -0.0003      0.0003      </param>
+        <param name="kbemf">           0.0    -0.0      0.0      </param>
         <param name="filterType">      0          0             0         </param>
-        <param name="ktau">          196.52    -185.41        185.70      </param>
+        <param name="ktau">            50    -50        50      </param>
     </group>
 
     <!-- custom PIDs: end -->
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 eba4c88c06..55fc195c17 100644
--- a/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml
+++ b/iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml
@@ -15,8 +15,8 @@
         <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>
-        <param name="motorOverloadCurrents">    20000    30000               30000               </param>
+        <param name="motorPeakCurrents">        14000    15000               15000               </param>
+        <param name="motorOverloadCurrents">    19000    30000               30000               </param>
         <param name="motorPwmLimit">            16000    16000               16000               </param>
     </group>
 
@@ -25,15 +25,15 @@
     </group>
 
     <group name="IMPEDANCE">
-        <param name="stiffness">                0.1     0.1                 0.1                 </param>
-        <param name="damping">                  0.05    0.05                0.05                </param>
+        <param name="stiffness">                0.1     30.0               10.0                 </param>
+        <param name="damping">                  0.05    0.05               0.05                </param>
     </group>
 
     <group name="CONTROLS">
         <param name="positionControl">        POS_PID_DEFAULT   POS_PID_DEFAULT     POS_PID_DEFAULT     </param>
         <param name="velocityControl">        POS_PID_DEFAULT   POS_PID_DEFAULT     POS_PID_DEFAULT     </param>
         <param name="mixedControl">           POS_PID_DEFAULT   POS_PID_DEFAULT     POS_PID_DEFAULT     </param>
-        <param name="torqueControl">          TRQ_PID_DEFAULT   TRQ_PID_DEFAULT     TRQ_PID_DEFAULT     </param>
+        <param name="torqueControl">          TRQ_PID_OUTPUT_CURR   TRQ_PID_OUTPUT_CURR     TRQ_PID_OUTPUT_CURR     </param>
         <param name="currentPid">             2FOC_CUR_CONTROL  2FOC_CUR_CONTROL    2FOC_CUR_CONTROL    </param>
         <param name="speedPid">               2FOC_VEL_CONTROL  2FOC_VEL_CONTROL    2FOC_VEL_CONTROL    </param>
     </group>
@@ -116,18 +116,18 @@
         <param name="outputType">          current                      </param>
         <param name="fbkControlUnits">     metric_units                 </param>
         <param name="outputControlUnits">  machine_units                </param>
-        <param name="kp">            150.00       40.44      28.27      </param>
+        <param name="kp">               0          1000       1000      </param>
         <param name="kd">               0          0          0      </param>
-        <param name="ki">            80.00         0          0    </param>
+        <param name="ki">               0          500        1000    </param>
         <param name="maxOutput">     2500       2500       2500        </param>
         <param name="maxInt">         200        200        200       </param>
         <param name="ko">               0          0          0     </param>
         <param name="stictionUp">       0          0          0     </param>
         <param name="stictionDown">     0          0          0     </param>
         <param name="kff">              1          1          1     </param>
-        <param name="kbemf">         0.0001        0.0003     0.0004    </param>
+        <param name="kbemf">         0.00        0.0009     0.0003    </param>
         <param name="filterType">       0          0          0     </param>
-        <param name="ktau">          270.78      181.17     230.00     </param>
+        <param name="ktau">          50.0      128.81     227.739     </param>
     </group>
     <!-- custom PIDs: end -->
 
diff --git a/iCubGenova09/icub_wbd.xml b/iCubGenova09/icub_wbd.xml
index ae9bd425e7..2fcadd03b2 100644
--- a/iCubGenova09/icub_wbd.xml
+++ b/iCubGenova09/icub_wbd.xml
@@ -9,8 +9,8 @@
 
     <devices>
     <!-- cartesian --> 
-    <xi:include href="cartesian/left_arm-cartesian.xml" />
-    <xi:include href="cartesian/right_arm-cartesian.xml" />
+   <!-- <xi:include href="cartesian/left_arm-cartesian.xml" />
+    <xi:include href="cartesian/right_arm-cartesian.xml" /> -->
 
     <!-- all joints -->
      <!-- <xi:include href="wrappers/motorControl/alljoints_mc_remapper.xml" />