diff --git a/build/bin/mainV7.exe b/build/bin/mainV7.exe
index dce1329..eff0607 100644
Binary files a/build/bin/mainV7.exe and b/build/bin/mainV7.exe differ
diff --git a/src/collections/methods/gamba.cpp b/src/collections/methods/gamba.cpp
index 4e51667..941f717 100644
--- a/src/collections/methods/gamba.cpp
+++ b/src/collections/methods/gamba.cpp
@@ -15,8 +15,8 @@ Gamba::Gamba(rb::Vector3 pos, unsigned int* dataPos, std::string cosciaData, std
         sensori.push_back(new Sensore (rb::Vector3{pos[0],pos[1],pos[2]+200},_Float16( 0.2 ),dataPos,caviglia));
 
         // modifico la rotazione relativa della gamba
-        sensori[0]->body.setRot({_Float16 (1.3),_Float16 (1.7),0});
-        sensori[1]->body.setRot({_Float16 (1.8),_Float16 (1.7),0});
+        sensori[0]->body.setRot({_Float16 (1.5708),_Float16 (1.5708),0});
+        sensori[1]->body.setRot({_Float16 (1.5708),_Float16 (1.5708),0});
 
         joints.push_back(new RigidJoint(sensori[0], {pezzi[0]}));
         joints.push_back(new PivotJoint(sensori[0], {sensori[1]}, rb::Vector3{0,0,100}));
diff --git a/src/collections/methods/lower_body.cpp b/src/collections/methods/lower_body.cpp
index cdde8d7..8608f31 100644
--- a/src/collections/methods/lower_body.cpp
+++ b/src/collections/methods/lower_body.cpp
@@ -17,7 +17,7 @@ Lower_Body::Lower_Body(rb::Vector3 pos,std::vector<gamba_data> data){
 
 collection Lower_Body::create(ReferencePlane plane){
     collection coll;
-    dx->setDirection(Direction::R);
+    
     sx->setTransparency(1);
     dx->setTransparency(1);
 
@@ -25,15 +25,21 @@ collection Lower_Body::create(ReferencePlane plane){
     {
     case ReferencePlane::XZN: 
         dx->setTransparency(0.5);
+        dx->setDirection(Direction::L);
+        sx->setDirection(Direction::R);
         coll = coll + dx->create(plane);
         coll = coll + sx->create(plane);
         break;
     case ReferencePlane::XZ:
         sx->setTransparency(0.5);
+        dx->setDirection(Direction::R);
+        sx->setDirection(Direction::L);
         coll = coll + sx->create(plane);
         coll = coll + dx->create(plane);
         break;
     case ReferencePlane::YZ:
+        sx->setDirection(Direction::R);
+        dx->setDirection(Direction::L);
         coll = coll + dx->create(plane);
         coll = coll + sx->create(plane);
         break;
diff --git a/src/pieces/methods/sensore_class.cpp b/src/pieces/methods/sensore_class.cpp
index 19d888d..fe9d417 100644
--- a/src/pieces/methods/sensore_class.cpp
+++ b/src/pieces/methods/sensore_class.cpp
@@ -99,7 +99,7 @@ void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori
     float tmpSinZ = -grav[2] / modG;
 
     float tmpAX = acos(dir*tmpSinX);
-    float tmpAY = acos(tmpSinY);
+    float tmpAY = acos(dir*tmpSinY);
     float tmpAZ = acos(tmpSinZ);
 
     body.setRot(rb::Vector3{tmpAY, tmpAX, tmpAZ });