diff --git a/R1SN003/R1.xml b/R1SN003/R1.xml
index cb4643714..6c4eb459b 100644
--- a/R1SN003/R1.xml
+++ b/R1SN003/R1.xml
@@ -4,6 +4,18 @@
 <robot name="R1SN003" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
 <devices>
 
+    <!-- POS4 -->
+    <xi:include href="wrappers/POS/right_hand-pos_wrapper4.xml" disabled_by="disable_right_hand" />
+    <xi:include href="hardware/POS/right_hand-pos4.xml" disabled_by="disable_right_hand" />
+    <xi:include href="wrappers/POS/left_hand-pos_wrapper4.xml" disabled_by="disable_left_hand" />
+    <xi:include href="hardware/POS/left_hand-pos4.xml" disabled_by="disable_left_hand" /> 
+
+    <!-- POS2 -->
+    <xi:include href="wrappers/POS/right_hand-pos_wrapper2.xml" disabled_by="disable_right_hand" />
+    <xi:include href="hardware/POS/right_hand-pos2.xml" disabled_by="disable_right_hand" />
+    <xi:include href="wrappers/POS/left_hand-pos_wrapper2.xml" disabled_by="disable_left_hand" />
+    <xi:include href="hardware/POS/left_hand-pos2.xml" disabled_by="disable_left_hand" /> 
+
     <!-- ODOMETRY -->
     <xi:include href="hardware/odometry/odometry.xml" disabled_by="disable_odometry" />
     <xi:include href="wrappers/odometry/odometry_nws_yarp.xml" disabled_by="disable_odometry" />
@@ -33,18 +45,6 @@
     <xi:include href="wrappers/motorControl/cer_torso-mc_remapper.xml" disabled_by="disable_torso" />
     <xi:include href="wrappers/motorControl/cer_torso-mc_wrapper.xml" disabled_by="disable_torso" /> 
 
-    <!-- POS4 -->
-    <xi:include href="wrappers/POS/right_hand-pos_wrapper4.xml" disabled_by="disable_right_hand" />
-    <xi:include href="hardware/POS/right_hand-pos4.xml" disabled_by="disable_right_hand" />
-    <xi:include href="wrappers/POS/left_hand-pos_wrapper4.xml" disabled_by="disable_left_hand" />
-    <xi:include href="hardware/POS/left_hand-pos4.xml" disabled_by="disable_left_hand" /> 
-
-    <!-- POS2 -->
-    <xi:include href="wrappers/POS/right_hand-pos_wrapper2.xml" disabled_by="disable_right_hand" />
-    <xi:include href="hardware/POS/right_hand-pos2.xml" disabled_by="disable_right_hand" />
-    <xi:include href="wrappers/POS/left_hand-pos_wrapper2.xml" disabled_by="disable_left_hand" />
-    <xi:include href="hardware/POS/left_hand-pos2.xml" disabled_by="disable_left_hand" /> 
-
     <!-- LEFT ARM -->
     <xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" disabled_by="disable_left_arm" />
     <xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" disabled_by="disable_left_arm disable_left_hand" />
@@ -72,19 +72,11 @@
     <xi:include href="wrappers/motorControl/cer_head-mc_remapper.xml" disabled_by="disable_head"/>
     <xi:include href="wrappers/motorControl/cer_head-mc_wrapper.xml" disabled_by="disable_head"/>
 
-    <!--  CALIBRATORS -->
-    <xi:include href="calibrators/cer_torso-calib.xml" disabled_by="disable_torso"/> 
-    <xi:include href="calibrators/cer_head-calib.xml" disabled_by="disable_head"/>
-    <xi:include href="calibrators/cer_base-calib.xml" disabled_by="disable_base"/>
-    <xi:include href="calibrators/left_arm-calib.xml" disabled_by="disable_left_arm" />
-    <xi:include href="calibrators/right_arm-calib.xml" disabled_by="disable_right_arm" />
-
     <!-- SKIN-->
 <!--<xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
     <xi:include href="hardware/skin/right_arm-eb7-j2_3-skin.xml" />
     <xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
-    <xi:include href="hardware/skin/left_arm-eb4-j2_3-skin.xml" />
--->
+    <xi:include href="hardware/skin/left_arm-eb4-j2_3-skin.xml" /> -->
 
 <!-- IMU - MTB4 BOARDS
     <xi:include href="hardware/inertials/left_arm-eb4-j2_3-inertial.xml" disabled_by="disable_left_arm" />
@@ -112,6 +104,13 @@
     <xi:include href="wrappers/motorControl/cer_alljoints_remapper.xml" enabled_by="enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
     <xi:include href="wrappers/motorControl/cer_alljoints_ros2_wrapper.xml" enabled_by="enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
 
+    <!--  CALIBRATORS -->
+    <xi:include href="calibrators/cer_torso-calib.xml" disabled_by="disable_torso"/> 
+    <xi:include href="calibrators/cer_head-calib.xml" disabled_by="disable_head"/>
+    <xi:include href="calibrators/cer_base-calib.xml" disabled_by="disable_base"/>
+    <xi:include href="calibrators/left_arm-calib.xml" disabled_by="disable_left_arm" />
+    <xi:include href="calibrators/right_arm-calib.xml" disabled_by="disable_right_arm" />
+
     <!-- BATTERY -->
     <xi:include href="wrappers/battery/r1battery.xml" enabled_by="enable_battery" disabled_by="disable_battery" />
     <xi:include href="wrappers/battery/r1battery_nws_ros2.xml" enabled_by="enable_battery enable_ros2" disabled_by="disable_battery disable_ros2" />
diff --git a/R1SN003/hardware/motorControl/left_arm-eb23-j7_10-mc.xml b/R1SN003/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
index e624d9f03..fb84f1792 100644
--- a/R1SN003/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
+++ b/R1SN003/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
@@ -48,9 +48,9 @@
         <param name="outputType">               pwm             </param>
         <param name="fbkControlUnits">          metric_units    </param>
         <param name="outputControlUnits">       machine_units   </param>
-        <param name="kp">                       -19.8       -11.3       -10.5       -12.4    </param>
-        <param name="kd">                       -2.82       -1.34       -1.55       -1.51       </param>
-        <param name="ki">                       -9.14       -11.7       -21.22      -16.9     </param>
+        <param name="kp">                       -15         -22         -22         -18     </param>
+        <param name="kd">                       -2          -4          -4          -3      </param>
+        <param name="ki">                       -5          -18         -18         -20     </param>
         <param name="maxOutput">                1350        1350        1350        1350    </param>
         <param name="maxInt">                   1000        1000        1000        1000    </param>
         <param name="stictionUp">               0           0           0           0       </param>
diff --git a/R1SN003/hardware/motorControl/right_arm-eb22-j7_10-mc.xml b/R1SN003/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
index b86a13509..630d303da 100644
--- a/R1SN003/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
+++ b/R1SN003/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
@@ -48,9 +48,9 @@
         <param name="outputType">               pwm             </param>
         <param name="fbkControlUnits">          metric_units    </param>
         <param name="outputControlUnits">       machine_units   </param>
-        <param name="kp">                       -12.9       -11.3       -10.5       -11    </param>
-        <param name="kd">                       -1.76       -1.34       -1.55       -0.9       </param>
-        <param name="ki">                       -10.4       -11.7       -22.9       -17     </param>
+        <param name="kp">                       -15         -22         -22         -18     </param>
+        <param name="kd">                       -2          -4           -4         -3      </param>
+        <param name="ki">                       -5          -18         -18         -20     </param>
         <param name="maxOutput">                1350        1350        1350        1350    </param>
         <param name="maxInt">                   1000        1000        1000        1000    </param>
         <param name="stictionUp">               0           0           0           0       </param>