diff --git a/build/bin/mainV6 b/build/bin/mainV6
new file mode 100755
index 0000000..1f71b2c
Binary files /dev/null and b/build/bin/mainV6 differ
diff --git a/src/collections/headers/collection_interface.hpp b/src/collections/headers/collection_interface.hpp
index 4aa5ada..2a11279 100644
--- a/src/collections/headers/collection_interface.hpp
+++ b/src/collections/headers/collection_interface.hpp
@@ -17,7 +17,7 @@ class CollectionInterface{
 };
 
 
-#endif
+
 
 inline collection operator+(collection c1, collection c2){
     collection res;
@@ -28,4 +28,6 @@ inline collection operator+(collection c1, collection c2){
         res.joints.push_back(i);
     }
     return res;
-}
\ No newline at end of file
+}
+
+#endif
\ No newline at end of file
diff --git a/src/collections/headers/lower_body.hpp b/src/collections/headers/lower_body.hpp
index 9fb5b8e..72cbcf4 100644
--- a/src/collections/headers/lower_body.hpp
+++ b/src/collections/headers/lower_body.hpp
@@ -1,4 +1,5 @@
 #include "gamba.hpp"
+#include "collection_interface.hpp"
 
 #ifndef LOWER_BODY_H
 #define LOWER_BODY_H
@@ -10,7 +11,7 @@ struct gamba_data{
 };
 
 
-class Lower_Body : CollectionInterface{
+class Lower_Body : public CollectionInterface{
 protected:
     Gamba* sx;
     Gamba* dx;
@@ -23,7 +24,7 @@ protected:
     float alpha = 1;
 
 public:
-    Lower_Body(std::vector<gamba_data> data);
+    Lower_Body(rb::Vector3 pos, std::vector<gamba_data> data);
     ~Lower_Body();
 
     void setVisibility(bool c);
diff --git a/src/collections/methods/lower_body.cpp b/src/collections/methods/lower_body.cpp
index 266cd86..70e1719 100644
--- a/src/collections/methods/lower_body.cpp
+++ b/src/collections/methods/lower_body.cpp
@@ -1,10 +1,11 @@
 #include "../headers/lower_body.hpp"
 
-Lower_Body::Lower_Body(std::vector<gamba_data> data){
+Lower_Body::Lower_Body(rb::Vector3 pos,std::vector<gamba_data> data){
     if (data.size() != 2) throw "Lower_Body_Error: data vector size must be 2";
-    sx = new Gamba({0,0,150},data[0].dataPos,data[0].cosciaData,data[0].cavigliaData);
-    dx = new Gamba({0,0,150},data[1].dataPos,data[1].cosciaData,data[1].cavigliaData);
-    t = new Torso({0,100,0},_Float16(3.0));
+
+    sx = new Gamba({pos[0],pos[1],pos[2]+150},data[0].dataPos,data[0].cosciaData,data[0].cavigliaData);
+    dx = new Gamba({pos[0],pos[1],pos[2]+150},data[1].dataPos,data[1].cosciaData,data[1].cavigliaData);
+    t = new Torso({pos[0],pos[1]+100,pos[2]},_Float16(3.0));
 
     PieceInterface* psx = sx->getJointPiece();
     PieceInterface* pdx = dx->getJointPiece();
@@ -16,8 +17,34 @@ Lower_Body::Lower_Body(std::vector<gamba_data> data){
 
 collection Lower_Body::create(ReferencePlane plane){
     collection coll;
-    coll = coll + sx->create(plane);
-    coll = coll + dx->create(plane);
 
 
+    switch (plane)
+    {
+    case ReferencePlane::XZ: case ReferencePlane::XZN:
+        coll = coll + sx->create(plane);
+        coll = coll + dx->create(plane);
+        break;
+    case ReferencePlane::YZ:
+        coll = coll + dx->create(plane);
+        coll = coll + sx->create(plane);
+        break;
+
+    default:
+        break;
+    }
+    
+    return coll;
+}
+
+Lower_Body::~Lower_Body(){
+    delete sx;
+    delete dx;
+    delete t;
+    delete jdx;
+    delete jsx;
+}
+
+void Lower_Body::setVisibility(bool c){
+
 }
\ No newline at end of file
diff --git a/src/include.hpp b/src/include.hpp
index fddee8c..a2485f5 100644
--- a/src/include.hpp
+++ b/src/include.hpp
@@ -7,4 +7,5 @@
 #include "pieces/headers/torso.hpp"
 #include "joints/headers/rigid_joint.hpp"
 #include "joints/headers/pivot_joint.hpp"
-#include "collections/headers/gamba.hpp"
\ No newline at end of file
+#include "collections/headers/gamba.hpp"
+#include "collections/headers/lower_body.hpp"
\ No newline at end of file
diff --git a/src/testMain.cpp b/src/testMain.cpp
index 8e3c98f..923d4b6 100755
--- a/src/testMain.cpp
+++ b/src/testMain.cpp
@@ -71,6 +71,16 @@ int main() {
 
         //provo ad aggiungere una collection
         Gamba g = Gamba({0,0,0},&pos,"coscia_filt.csv","coscia_filt.csv");
+
+        std::vector<gamba_data> data;
+        gamba_data d;
+        d.dataPos = &pos;
+        d.cavigliaData = "coscia_filt.csv";
+        d.cosciaData = "coscia_filt.csv";
+        data.push_back(d);
+        data.push_back(d);
+        Lower_Body b = Lower_Body(rb::Vector3{0,0,0},data);
+
         printf("Ho costruito tutto!\n");
     }
     catch(char* e){