diff --git a/build/bin/mainV6 b/build/bin/mainV6
index 3a34492..8c7ab3c 100755
Binary files a/build/bin/mainV6 and b/build/bin/mainV6 differ
diff --git a/src/collections/methods/lower_body.cpp b/src/collections/methods/lower_body.cpp
index 6bf48b4..84b63eb 100644
--- a/src/collections/methods/lower_body.cpp
+++ b/src/collections/methods/lower_body.cpp
@@ -4,7 +4,7 @@ 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({pos[0],pos[1],pos[2]+150},data[0].dataPos,data[0].cosciaData,data[0].cavigliaData);
-    dx = new Gamba({pos[0],pos[1]+100,pos[2]+150},data[1].dataPos,data[1].cosciaData,data[1].cavigliaData);
+    dx = new Gamba({pos[0],pos[1]+200,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();
diff --git a/src/testMain.cpp b/src/testMain.cpp
index 11f76cd..def0599 100755
--- a/src/testMain.cpp
+++ b/src/testMain.cpp
@@ -71,7 +71,7 @@ int main() {
         */
 
         //provo ad aggiungere una collection
-        gs.collections.push_back(new Gamba({220,0,220},&pos,"coscia_filt.csv","caviglia_filt.csv"));
+        //gs.collections.push_back(new Gamba({220,0,220},&pos,"coscia_filt.csv","caviglia_filt.csv"));
 
         std::vector<gamba_data> data;
         gamba_data d;