diff --git a/iCubSingapore01/calibrators/head-calib.xml b/iCubSingapore01/calibrators/head-calib.xml
index 0a1340cf13..839212e567 100644
--- a/iCubSingapore01/calibrators/head-calib.xml
+++ b/iCubSingapore01/calibrators/head-calib.xml
@@ -22,11 +22,11 @@
         <param name="calibrationType">          3       3       3       3       5       5       </param>
         <param name="calibration1">             0        0      0       0       3000    3000    </param>
         <param name="calibration2">             0        0      0       0       8192    8192    </param> 
-        <param name="calibration3">             31999   22783   36255   42815   0       0       </param> 
+        <param name="calibration3">             31999   22783   36255   10239   0       0       </param> 
         <param name="calibration4">             0       0       0       0       0       0       </param>
         <param name="calibration5">             0       0       0       0       0       0       </param>               
         <param name="calibrationZero">          180    -180     180     180     0       0       </param>
-        <param name="calibrationDelta">         3      -2       1      -11      0       0       </param>
+        <param name="calibrationDelta">         3      -2       1      -7.4     -11.6   -6      </param>
        
         <param name="startupPosition">      0.0         0.0         0.0         0.0         0.0         0.0         </param>        
         <param name="startupVelocity">      10          10          20.0        20.0        20.0        20.0        </param>        
diff --git a/iCubSingapore01/calibrators/left_arm-calib.xml b/iCubSingapore01/calibrators/left_arm-calib.xml
index a646c15bb7..9ee82b08c4 100644
--- a/iCubSingapore01/calibrators/left_arm-calib.xml
+++ b/iCubSingapore01/calibrators/left_arm-calib.xml
@@ -20,10 +20,10 @@
 <param name="calibrationType">                    3          3        3         3        5     3      3     7     7     6     6     6     6      6      6     6     </param>
 <param name="calibration1">                       38229     51882     32768     24576   -1500  0      0     0     0     0     0     0     0      0      0     0     </param>
 <param name="calibration2">                       10        10        10.0      10.0     16384 0      0     0     0     9102  9102  9102  9102   9102   9102  3640  </param>
-<param name="calibration3">                       65519     60703     4719     56703     0     27552  60911 0     0    -1     1    -1     1     -1      1    -1     </param>
-<param name="calibration4">                       0         0         0         0        0     0      0     2610  530   240   468   247   482    255    485   682   </param>
-<param name="calibration5">                       0         0         0         0        0     0      0     2900  1797  0     5     0     15     0      20    65    </param>
-<param name="calibrationZero">                   -180      -315       180      -180      0  -180     180   0     0     0     0     0     0      0      0     0     </param>
+<param name="calibration3">                       64447     60703     4719     56703     0     27552  60911 0     0    -1     1    -1     1     -1      1    -1     </param>
+<param name="calibration4">                       0         0         0         0        0     0      0     2610  2400  240   500   247   482    255    485   682   </param>
+<param name="calibration5">                       0         0         0         0        0     0      0     2900  4550  0     5     0     15     0      20    65    </param>
+<param name="calibrationZero">                   -180      -315       180      -180      0  -180     180    0     0     0     0     0     0      0      0     0     </param>
 <param name="calibrationDelta">                   0        -10.3     -3        -8        0     0      0     0     0     0     0     0     0      0      0     0     </param>
                                                                                              
 <param name="startupPosition">                  -35         30        0         50       0     0     0      15    30    0     0     0     0      0      0     0     </param>
diff --git a/iCubSingapore01/calibrators/left_leg-calib.xml b/iCubSingapore01/calibrators/left_leg-calib.xml
index 5dd44f35d9..b3ac7d57c0 100644
--- a/iCubSingapore01/calibrators/left_leg-calib.xml
+++ b/iCubSingapore01/calibrators/left_leg-calib.xml
@@ -19,7 +19,7 @@
 <param name="calibrationType">        3         3       3       3       3       3       </param>
 <param name="calibration1">    	      32768	32768	32768	32768	32768	32768	</param> 
 <param name="calibration2">	      10	10	10	10	10	10	</param> 
-<param name="calibration3">	      40735	36047	5423	43471	30287	58223	</param> 
+<param name="calibration3">	      61807	36047	5423	43471	30287	58223	</param> 
 <param name="calibration4">           0         0       0       0       0       0       </param>
 <param name="calibration5">           0         0       0       0       0       0       </param>
 <param name="calibrationZero">        180       180     180    -180    -180     180     </param>
diff --git a/iCubSingapore01/calibrators/right_arm-calib.xml b/iCubSingapore01/calibrators/right_arm-calib.xml
index a7d6232ac8..be55e4021b 100644
--- a/iCubSingapore01/calibrators/right_arm-calib.xml
+++ b/iCubSingapore01/calibrators/right_arm-calib.xml
@@ -20,10 +20,10 @@
 <param name="calibrationType">         3         3        3       3      5      3      3     7     7     6     6     6     6      6      6     6    </param>
 <param name="calibration1">           27307     13653    32768   40960  1500    0      0     0     0     0     0     0     0      0      0     0    </param>
 <param name="calibration2">           10        10       10      10     16384   0      0     0     0     9102  9102  9102  9102   9102   9102  3640 </param>
-<param name="calibration3">           46063     40335    27503   39183   0      52668  49800 0     0    -1     1    -1     1     -1      1    -1    </param>
-<param name="calibration4">            0         0        0       0      0      0      0     2740  486   255   472   240   470    255    475   680  </param>
-<param name="calibration5">            0         0        0       0      0      0      0     3045  1703  0     5     10    10     30     17    65   </param>
-<param name="calibrationZero">         180       45      -180     180    0     180   -180   0     0     0     0     0     0      0      0     0    </param>
+<param name="calibration3">           47695     40335    27503   39183   0      52668  49800 0     0    -1     1    -1     1     -1      1    -1    </param>
+<param name="calibration4">            0         0        0       0      0      0      0     1850  580   255   470   250   470    255    475   685  </param>
+<param name="calibration5">            0         0        0       0      0      0      0     2100  3000  0     5     10    10     30     17    120   </param>
+<param name="calibrationZero">         180       45      -180     180    0     180   -180    0     0     0     0     0     0      0      0     0    </param>
 <param name="calibrationDelta">       -2        -9.5     -4      -15     0      0      0     0     0     0     0     0     0      0      0     0    </param>
 
 <param name="startupPosition">       -35        30        0      50      0     0      0    25    30     0     0     0     0      0      0     0 </param>
diff --git a/iCubSingapore01/cartesian/left_arm-cartesian.xml b/iCubSingapore01/cartesian/left_arm-cartesian.xml
index 24d6cc42dd..2c182b286f 100644
--- a/iCubSingapore01/cartesian/left_arm-cartesian.xml
+++ b/iCubSingapore01/cartesian/left_arm-cartesian.xml
@@ -9,7 +9,7 @@
             <param name="TaskRefVelPeriodFactor">4</param>
             <param name="SolverNameToConnect">cartesianSolver/left_arm</param>
             <param name="KinematicPart">arm</param>
-            <param name="KinematicType">left_v2</param>
+            <param name="KinematicType">left_v2.5</param>
             <param name="PositionControl">on</param>
             <param name="NumberOfDrivers">2</param>
         </group>
diff --git a/iCubSingapore01/cartesian/right_arm-cartesian.xml b/iCubSingapore01/cartesian/right_arm-cartesian.xml
index cff857f9de..9cb267a592 100644
--- a/iCubSingapore01/cartesian/right_arm-cartesian.xml
+++ b/iCubSingapore01/cartesian/right_arm-cartesian.xml
@@ -9,7 +9,7 @@
             <param name="TaskRefVelPeriodFactor">4</param>
             <param name="SolverNameToConnect">cartesianSolver/right_arm</param>
             <param name="KinematicPart">arm</param>
-            <param name="KinematicType">right_v2</param>
+            <param name="KinematicType">right_v2.5</param>
             <param name="PositionControl">on</param>
             <param name="NumberOfDrivers">2</param>
         </group>
diff --git a/iCubSingapore01/hardware/mechanicals/head-eb21-j2_5-mec.xml b/iCubSingapore01/hardware/mechanicals/head-eb21-j2_5-mec.xml
index b8e4cf92dc..2a098c61e5 100644
--- a/iCubSingapore01/hardware/mechanicals/head-eb21-j2_5-mec.xml
+++ b/iCubSingapore01/hardware/mechanicals/head-eb21-j2_5-mec.xml
@@ -23,7 +23,7 @@
     </group>
     
     <group name="LIMITS">       
-        <param name="hardwareJntPosMin">          -45         -30         -45         0           </param> 
+        <param name="hardwareJntPosMin">          -45         -30         -45          0           </param> 
         <param name="hardwareJntPosMax">          +45         +30         +45         +45         </param>
         <param name="rotorPosMin">                 0           0           0           0          </param> 
         <param name="rotorPosMax">                 0           0           0           0          </param>
diff --git a/iCubSingapore01/hardware/motorControl/right_arm-eb28-j8_11-mc.xml b/iCubSingapore01/hardware/motorControl/right_arm-eb28-j8_11-mc.xml
index 642b28ffd6..1556677d3f 100644
--- a/iCubSingapore01/hardware/motorControl/right_arm-eb28-j8_11-mc.xml
+++ b/iCubSingapore01/hardware/motorControl/right_arm-eb28-j8_11-mc.xml
@@ -47,9 +47,9 @@
         <param name="outputType">           pwm                       </param>
         <param name="fbkControlUnits">      metric_units              </param> 
         <param name="outputControlUnits">   machine_units             </param>
-        <param name="kp">                   -500.0      500.0       -500.0      500.0       </param>
+        <param name="kp">                   -500.0      -500.0       -500.0      500.0       </param>
         <param name="kd">                   0.0         0.0         0.0         0.0         </param>
-        <param name="ki">                   -50.0       50.0        -50.0       50.0        </param>
+        <param name="ki">                   -50.0       -50.0        -50.0       50.0        </param>
         <param name="maxOutput">            3360        3360        3360        3360        </param>
         <param name="maxInt">               3360        3360        3360        3360        </param>
         <param name="stictionUp">           0           0           0           0           </param>
diff --git a/iCubSingapore01/iKinGazeCtrl.ini b/iCubSingapore01/iKinGazeCtrl.ini
index dff3c78866..6a2957c986 100644
--- a/iCubSingapore01/iKinGazeCtrl.ini
+++ b/iCubSingapore01/iKinGazeCtrl.ini
@@ -1,4 +1,4 @@
-head_version v2.0
+head_version v2.5
 
 [cameras]
 context   cameraCalibration
diff --git a/iCubSingapore01/icubEyes.ini b/iCubSingapore01/icubEyes.ini
index 3f74f1e3f7..05e9ce9a6a 100644
--- a/iCubSingapore01/icubEyes.ini
+++ b/iCubSingapore01/icubEyes.ini
@@ -5,14 +5,14 @@ drawCenterCross    0
 
 w  320
 h  240
-fx 237.599
-fy 237.149
-cx 181.635
-cy 144.859
-k1 -0.412969
-k2 0.145895
-p1 0.000531684
-p2 -0.00072717
+fx 222.834
+fy 222.442
+cx 184.455
+cy 145.355
+k1 -0.357715
+k2 0.107263
+p1 7.93927e-05
+p2 -0.00329061
 
 [CAMERA_CALIBRATION_LEFT]
 
@@ -21,14 +21,14 @@ drawCenterCross    0
 
 w  320
 h  240
-fx 236.476
-fy 236.278
-cx 153.05
-cy 141.829
-k1 -0.41691
-k2 0.164864
-p1 0.000463526
-p2 0.000172292
+fx 259.49
+fy 258.677
+cx 149.222
+cy 149.746
+k1 -0.502769
+k2 0.22783
+p1 -0.0102489
+p2 0.00335395
 
 [CAMERA_CALIBRATION_CONFIGURATION_LEFT]
 
@@ -52,13 +52,14 @@ outputGroupname             CAMERA_CALIBRATION_RIGHT
 
 
 [STEREO_CALIBRATION_CONFIGURATION]
-boardWidth 8
-boardHeight 6
-boardSize 0.09241
+boardWidth 9
+boardHeight 7
+boardSize 0.245
 numberOfPairs 30
 
 [STEREO_DISPARITY]
-HN (0.999876 -0.0016283 -0.0156848 -0.0668214 0.00188078 0.999869 0.0160957 -0.000576745 0.0156565 -0.0161232 0.999747 -0.00550025 0 0 0 1)
-QL ( 0.000000	 0.000000	 0.000000	-0.001726	-0.000383	 0.004027	 0.001822	 0.000096)
-QR ( 0.000000	 0.000000	 0.000000	-0.001726	-0.000383	 0.004027	 0.001822	-0.000096)
+HN (0.996777 -0.00916447 0.0796969 -0.232565 0.00814255 0.999881 0.0131382 0.0055351 -0.0798077 -0.0124469 0.996733 -0.0852971 0 0 0 1)
+QL ( 0.000000	 0.000000	 0.000000	-0.000192	-0.000383	-0.000575	 0.000288	 0.000000)
+QR ( 0.000000	 0.000000	 0.000000	-0.000192	-0.000383	-0.000575	 0.000288	 0.000000)
+
 
diff --git a/iCubSingapore01/icub_all.xml b/iCubSingapore01/icub_all.xml
index 8535822c41..de0c353821 100644
--- a/iCubSingapore01/icub_all.xml
+++ b/iCubSingapore01/icub_all.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
-    <robot name="iCubSingapore01" xmlns:xi="http://www.w3.org/2001/XInclude">
+    <robot name="iCubSingapore01" portprefix="icub" xmlns:xi="http://www.w3.org/2001/XInclude">
     <params>
     <xi:include href="hardware/electronics/pc104.xml" />
     </params>
@@ -50,10 +50,10 @@
     <xi:include href="hardware/motorControl/right_leg-eb9-j4_5-mc.xml" />
 
     <!-- INERTIAL SENSOR-->
-    <xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
+    <!--<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
     <xi:include href="wrappers/inertials/head-imuFilter.xml" />
     <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
-    <xi:include href="hardware/inertials/head-inertial.xml" />
+    <xi:include href="hardware/inertials/head-inertial.xml" />-->
 
     <!-- ANALOG SENSOR MAIS -->
     <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
@@ -93,15 +93,15 @@
     <xi:include href="wrappers/VFT/left_leg-VFT_wrapper.xml" />
     <xi:include href="wrappers/VFT/right_arm-VFT_wrapper.xml" />
     <xi:include href="wrappers/VFT/torso-VFT_wrapper.xml" />
-
+ 
     <!--  CALIBRATORS -->
+    <xi:include href="calibrators/head-calib.xml" />
+    <xi:include href="calibrators/torso-calib.xml" />
     <xi:include href="calibrators/left_arm-calib.xml" />
     <xi:include href="calibrators/right_arm-calib.xml" />
     <xi:include href="calibrators/left_leg-calib.xml" />
     <xi:include href="calibrators/right_leg-calib.xml" />
-    <xi:include href="calibrators/torso-calib.xml" />
-    <xi:include href="calibrators/head-calib.xml" />
-
+    
     <!-- CARTESIANS -->
     <xi:include href="cartesian/left_arm-cartesian.xml" />
     <xi:include href="cartesian/right_arm-cartesian.xml" />