diff --git a/utilities/joint-position-tracking/config/robots/iCubGenova09/blf-joint-position-tracking-options.ini b/utilities/joint-position-tracking/config/robots/iCubGenova09/blf-joint-position-tracking-options.ini
new file mode 100644
index 0000000000..86a77e88fc
--- /dev/null
+++ b/utilities/joint-position-tracking/config/robots/iCubGenova09/blf-joint-position-tracking-options.ini
@@ -0,0 +1,19 @@
+name                                             joint-position-tracking
+sampling_time                                    0.01
+max_angle_deg                                    70.0
+min_angle_deg                                    0.0
+trajectory_duration                              5.0
+
+[ROBOT_INTERFACE]
+robot_name                                       icub
+joints_list                                      ("r_hip_roll")
+remote_control_boards                            ("right_leg")
+
+[ROBOT_CONTROL]
+positioning_duration                             3.0
+positioning_tolerance                            0.05
+position_direct_max_admissible_error             0.1
+
+[SENSOR_BRIDGE]
+check_for_nan                                    false
+stream_joint_states                              true