diff --git a/ergoCubSN000/calibrators/torso-calib.xml b/ergoCubSN000/calibrators/torso-calib.xml
index 7866ae5dc4..6af565f91d 100644
--- a/ergoCubSN000/calibrators/torso-calib.xml
+++ b/ergoCubSN000/calibrators/torso-calib.xml
@@ -19,17 +19,18 @@
                                                                                                    
 <group name="CALIBRATION">                                                                         
 <!--                                                roll                    pitch                  yaw                          -->
-<param name="calibrationType">                      12                      12                     12                      </param>
+<param name="calibrationType">                      10                      10                     10                      </param>
 
-<param name="calibration1">	                        38354                   67734                  6013                    </param>
+<param name="calibration1">	                        6500                    -6500                  2500                    </param>
 <param name="calibration2">                         0                       0                      0                       </param> 
 <param name="calibration3">                         0                       0                      0                       </param> 
                                                                                                    
                                                                                                    
 <param name="calibration4">                         0                       0                      0                       </param>
 <param name="calibration5">                         0                       0                      0                       </param>
-<param name="calibrationZero">                      0                       0                      0                       </param>
-<param name="calibrationDelta">                    -0.939                   2.917                 0                       </param>
+<param name="calibrationZero">                      24.903                  -21.847                -46.606                 </param>
+<param name="calibrationDelta">                     0                       0                      0                       </param>
+
                                                                                                    
 <param name="startupPosition">                      0                       0                      0                       </param>
 <param name="startupVelocity">                      10                      10                     10                      </param>
@@ -37,9 +38,9 @@
 <param name="startupPosThreshold">                  2                       2                      2                       </param>
 </group>
 
- <!-- 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) (1) (2) </param>
+ 
+ <!-- <param name="CALIB_ORDER">(2) (1) (0) </param> --> <!-- Don't remove this line -->
+		<param name="CALIB_ORDER">(2) (1) (0) </param>
 
 		<action phase="startup" level="10" type="calibrate">
 		    <param name="target">torso-eb5-j0_2-mc</param>
diff --git a/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml b/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml
index 27e3ed3080..01eff1501e 100644
--- a/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml
+++ b/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml
@@ -12,15 +12,15 @@
         <param name="fullscalePWM">         32000               32000            32000               </param>
         <param name="ampsToSensor">         1000.0              1000.0           1000.0              </param>
         <param name="Gearbox_M2J">          100.0               160.0            -100.0              </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_C2900576"     "MOOG_C2900576"   "MOOG_C2900576"     </param>
+        <param name="MotorType">            "MOOG_C2900576"     "MOOG_C2900576"   "MOOG_C2900576"    </param>
         <param name="Verbose"> 0 </param>                           
     </group>                                                        
                                                                     
     <group name="LIMITS">                                           
         <param name="hardwareJntPosMax">    25                  65               45                  </param>
-        <param name="hardwareJntPosMin">   -25                 -20              -45                 </param>
+        <param name="hardwareJntPosMin">   -25                 -20              -45                  </param>
         <param name="rotorPosMin">          0                   0                0                   </param> 
         <param name="rotorPosMax">          0                   0                0                   </param>
     </group>                                                        
diff --git a/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc_service.xml b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc_service.xml
index 85f8274609..9b32046db1 100644
--- a/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc_service.xml
+++ b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc_service.xml
@@ -40,7 +40,7 @@
                     <param name="type">             amo                 amo                 amo                 </param>  
                     <param name="port">             CONN:P7             CONN:P8             CONN:P6             </param>
                     <param name="position">         atjoint             atjoint             atjoint             </param>
-                    <param name="resolution">       1048576             1048576             1048576             </param> 
+                    <param name="resolution">       16384               16384               16384               </param> 
                     <param name="tolerance">        0.703               0.703               0.703               </param>  
                 </group>