diff --git a/build/bin/mainV6.exe b/build/bin/mainV6.exe
index 4175604..a03add7 100644
Binary files a/build/bin/mainV6.exe and b/build/bin/mainV6.exe differ
diff --git a/src/collections/headers/gamba.hpp b/src/collections/headers/gamba.hpp
index 92a3092..cf8ab9c 100644
--- a/src/collections/headers/gamba.hpp
+++ b/src/collections/headers/gamba.hpp
@@ -13,6 +13,7 @@ class Gamba : public CollectionInterface {
         Gamba(rb::Vector3 pos, unsigned int* dataPos, std::string cosciaData, std::string cavigliaData);
         collection create(ReferencePlane plane) override;
         PieceInterface* getJointPiece();
+        void setDirection(Direction dir);
 };
 
 #endif
\ No newline at end of file
diff --git a/src/collections/methods/gamba.cpp b/src/collections/methods/gamba.cpp
index 4959ac8..dc22867 100644
--- a/src/collections/methods/gamba.cpp
+++ b/src/collections/methods/gamba.cpp
@@ -47,4 +47,13 @@ collection Gamba::create(ReferencePlane plane){
 
 PieceInterface* Gamba::getJointPiece(){
     return sensori[0];
+}
+
+void Gamba::setDirection(Direction dir){
+    for (auto i : pezzi){
+        i->setDirection(dir);
+    }
+    for (auto i : sensori){
+        i->setDirection(dir);
+    }
 }
\ No newline at end of file
diff --git a/src/collections/methods/lower_body.cpp b/src/collections/methods/lower_body.cpp
index 84b63eb..30f7a79 100644
--- a/src/collections/methods/lower_body.cpp
+++ b/src/collections/methods/lower_body.cpp
@@ -21,10 +21,12 @@ collection Lower_Body::create(ReferencePlane plane){
     switch (plane)
     {
     case ReferencePlane::XZ: case ReferencePlane::XZN:
+        dx->setDirection(Direction::R);
         coll = coll + sx->create(plane);
         coll = coll + dx->create(plane);
         break;
     case ReferencePlane::YZ:
+        dx->setDirection(Direction::L);
         coll = coll + dx->create(plane);
         coll = coll + sx->create(plane);
         break;
diff --git a/src/pieces/headers/piece_interface.hpp b/src/pieces/headers/piece_interface.hpp
index f3cb4cd..3513b83 100644
--- a/src/pieces/headers/piece_interface.hpp
+++ b/src/pieces/headers/piece_interface.hpp
@@ -13,6 +13,11 @@ enum class ReferencePlane {
     XZN
 };
 
+enum class Direction {
+    L,
+    R
+};
+
 //classi
 class PieceInterface{
     protected:
@@ -25,7 +30,7 @@ class PieceInterface{
             shapeXZ->setFillColor(color);
             shapeYZ->setFillColor(color);
         }
-
+        Direction direction = Direction::L;
     public:
         sf::Shape* shapeXZ, *shapeYZ;
         rb::Vector3 globalPos;
@@ -35,6 +40,9 @@ class PieceInterface{
         virtual void update(sf::Clock cl) = 0;
         virtual sf::Shape* draw(ReferencePlane plane) = 0;
         virtual ~PieceInterface(){}
+        virtual void setDirection(Direction dir){
+            direction = dir;
+        }
 };
 
 
diff --git a/src/pieces/methods/sensore_class.cpp b/src/pieces/methods/sensore_class.cpp
index 42ea0d6..4f0e82e 100644
--- a/src/pieces/methods/sensore_class.cpp
+++ b/src/pieces/methods/sensore_class.cpp
@@ -62,6 +62,7 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
     {
     case ReferencePlane::XZ:
         {
+       
         sf::Shape* shape = shapeXZ;
         shape->setRotation(sf::Angle(sf::radians(tmpRot[1])));
         shape->setPosition({tmpPos[0]+globalPos[0],tmpPos[2]+globalPos[2]});
@@ -85,7 +86,7 @@ sf::Shape* Sensore::draw(ReferencePlane plane){
 
 
 void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori della gravità
-
+    int dir = direction == Direction::R ? -1 : 1;
     std::vector<float> grav = gData[index];
     float modG = sqrt(pow(grav[0],2)+pow(grav[1],2)+pow(grav[2],2));
 
@@ -95,7 +96,7 @@ void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori
     float tmpSinY = -grav[1] / modG;
     float tmpSinZ = -grav[2] / modG;
 
-    float tmpAX = acos(tmpSinX);
+    float tmpAX = acos(dir*tmpSinX);
     float tmpAY = acos(tmpSinY);
     float tmpAZ = acos(tmpSinZ);
 
diff --git a/src/testMain.cpp b/src/testMain.cpp
index 2f870c8..aae6534 100755
--- a/src/testMain.cpp
+++ b/src/testMain.cpp
@@ -43,8 +43,8 @@ int main() {
         const auto& coscia = processor.getData();
         gs.setIntervall(coscia.size());
 
-        /*
-        gs.pieces.push_back(new Coscia (rb::Vector3{300,300,300},2));
+        /*        
+        gs.pieces.push_back(new Coscia (rb::Vector3{0,0,0},2));
         gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),&pos,coscia));
         gs.pieces.push_back(new Caviglia (rb::Vector3{300,300,500},1));
 
@@ -68,11 +68,12 @@ int main() {
         gs.joints.push_back(new RigidJoint(gs.pieces[1], {gs.pieces[0]}));
         gs.joints.push_back(new PivotJoint(gs.pieces[1], {gs.pieces[3]}, rb::Vector3{0,0,100}));
         gs.joints.push_back(new RigidJoint(gs.pieces[3], {gs.pieces[2]}));
+        
+        gs.pieces[2]->setDirection(Direction::R);
         */
-
         //provo ad aggiungere una collection
         //gs.collections.push_back(new Gamba({220,0,220},&pos,"coscia_filt.csv","caviglia_filt.csv"));
-
+        
         std::vector<gamba_data> data;
         gamba_data d;
         d.dataPos = &pos;
@@ -85,7 +86,7 @@ int main() {
         data.push_back(d);
         data.push_back(s);
         gs.collections.push_back(new Lower_Body(rb::Vector3{200,200,100},data));
-
+        
         printf("Ho costruito tutto!\n");
     }
     catch(char* e){