diff --git a/build/bin/mainV6 b/build/bin/mainV6
new file mode 100755
index 0000000..7f570b2
Binary files /dev/null and b/build/bin/mainV6 differ
diff --git a/src/collections/headers/gamba.hpp b/src/collections/headers/gamba.hpp
index 9f87c6e..c9f1fda 100644
--- a/src/collections/headers/gamba.hpp
+++ b/src/collections/headers/gamba.hpp
@@ -1,10 +1,5 @@
 #include "collection_interface.hpp"
-#include "../../csv/headers/csv.hpp"
-#include "../../pieces/headers/caviglia.hpp"
-#include "../../pieces/headers/coscia.hpp"
-#include "../../pieces/headers/sensore.hpp"
-#include "../../joints/headers/rigid_joint.hpp"
-#include "../../joints/headers/pivot_joint.hpp"
+#include "include_pieces.hpp"
 
 #ifndef GAMBA_H
 #define GAMBA_H
diff --git a/src/collections/headers/include_pieces.hpp b/src/collections/headers/include_pieces.hpp
new file mode 100644
index 0000000..bc7fbfc
--- /dev/null
+++ b/src/collections/headers/include_pieces.hpp
@@ -0,0 +1,7 @@
+#include "../../csv/headers/csv.hpp"
+#include "../../pieces/headers/caviglia.hpp"
+#include "../../pieces/headers/coscia.hpp"
+#include "../../pieces/headers/sensore.hpp"
+#include "../../joints/headers/rigid_joint.hpp"
+#include "../../joints/headers/pivot_joint.hpp"
+#include "../../pieces/headers/torso.hpp"
\ No newline at end of file
diff --git a/src/collections/headers/lower_body.hpp b/src/collections/headers/lower_body.hpp
new file mode 100644
index 0000000..707b4cd
--- /dev/null
+++ b/src/collections/headers/lower_body.hpp
@@ -0,0 +1,28 @@
+#include "gamba.hpp"
+
+#ifndef LOWER_BODY_H
+#define LOWER_BODY_H
+
+struct gamba_data{
+    rb::Vector3 pos; 
+    unsigned int* dataPos; 
+    std::string cosciaData; 
+    std::string cavigliaData;
+};
+
+
+class lower_body
+{
+protected:
+    Gamba sx;
+    Gamba dx;
+    Torso t;
+
+public:
+    lower_body(std::vector<gamba_data> data);
+    ~lower_body();
+};
+
+
+
+#endif
\ No newline at end of file
diff --git a/src/pieces/methods/sensore_class.cpp b/src/pieces/methods/sensore_class.cpp
index e9b41a2..42ea0d6 100644
--- a/src/pieces/methods/sensore_class.cpp
+++ b/src/pieces/methods/sensore_class.cpp
@@ -31,8 +31,6 @@ void Sensore::initCSV(std::vector<std::vector<float>> data){
         std::vector<float> tmpR = {row[2],row[3],row[1]}; 
         std::vector<float> tmpA = {row[5],row[6],row[4]};
         std::vector<float> tmpG = {-row[8],-row[9],-row[7]};
-               
-        /////// DA CAMBIARE QUI ///////////
 
         
         rotData.push_back(tmpR);