diff --git a/simmechanics/data/icub2_5/ICUB_2-5_BB_SIM_MODEL.xml b/simmechanics/data/icub2_5/ICUB_2-5_BB_SIM_MODEL.xml
index 7e77d9c..66edad8 100644
--- a/simmechanics/data/icub2_5/ICUB_2-5_BB_SIM_MODEL.xml
+++ b/simmechanics/data/icub2_5/ICUB_2-5_BB_SIM_MODEL.xml
@@ -2249,7 +2249,7 @@
                     <name>"CS6"</name>
                     <displayName>"SCSYS_R_FOOT_SKIN_0"</displayName>
                     <nodeID>"23501(USERADDED)"</nodeID>
-                    <position>-44.6755,-654.938,13.1889</position>
+                    <position>-62.5861,-654.938,68.3122</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2262,7 +2262,7 @@
                     <name>"CS7"</name>
                     <displayName>"SCSYS_R_FOOT_SKIN_1"</displayName>
                     <nodeID>"23502(USERADDED)"</nodeID>
-                    <position>-50.6457,-654.938,31.5634</position>
+                    <position>-75.5137,-654.938,53.9546</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2275,7 +2275,7 @@
                     <name>"CS8"</name>
                     <displayName>"SCSYS_R_FOOT_SKIN_2"</displayName>
                     <nodeID>"23503(USERADDED)"</nodeID>
-                    <position>-37.7181,-654.938,45.9209</position>
+                    <position>-94.4115,-654.938,57.9715</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2288,7 +2288,7 @@
                     <name>"CS9"</name>
                     <displayName>"SCSYS_R_FOOT_SKIN_3"</displayName>
                     <nodeID>"23504(USERADDED)"</nodeID>
-                    <position>-43.6883,-654.938,64.2953</position>
+                    <position>-107.339,-654.938,43.6139</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2301,7 +2301,7 @@
                     <name>"CS10"</name>
                     <displayName>"SCSYS_R_FOOT_SKIN_4"</displayName>
                     <nodeID>"23505(USERADDED)"</nodeID>
-                    <position>-62.5861,-654.938,68.3122</position>
+                    <position>-101.369,-654.938,25.2395</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2314,7 +2314,7 @@
                     <name>"CS11"</name>
                     <displayName>"SCSYS_R_FOOT_SKIN_8"</displayName>
                     <nodeID>"23506(USERADDED)"</nodeID>
-                    <position>-94.4115,-654.938,57.9715</position>
+                    <position>-76.5009,-654.938,2.84824</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2327,7 +2327,7 @@
                     <name>"CS12"</name>
                     <displayName>"SCSYS_R_FOOT_SKIN_9"</displayName>
                     <nodeID>"23507(USERADDED)"</nodeID>
-                    <position>-107.339,-654.938,43.6139</position>
+                    <position>-57.6031,-654.938,-1.16861</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2340,7 +2340,7 @@
                     <name>"CS13"</name>
                     <displayName>"SCSYS_R_FOOT_SKIN_10"</displayName>
                     <nodeID>"23508(USERADDED)"</nodeID>
-                    <position>-101.369,-654.938,25.2395</position>
+                    <position>-44.6755,-654.938,13.1889</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2353,7 +2353,7 @@
                     <name>"CS14"</name>
                     <displayName>"SCSYS_R_FOOT_SKIN_11"</displayName>
                     <nodeID>"23509(USERADDED)"</nodeID>
-                    <position>-82.4711,-654.938,21.2227</position>
+                    <position>-50.6457,-654.938,31.5634</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2379,7 +2379,7 @@
                     <name>"CS16"</name>
                     <displayName>"SCSYS_R_FOOT_SKIN_13"</displayName>
                     <nodeID>"23511(USERADDED)"</nodeID>
-                    <position>-75.5137,-654.938,53.9546</position>
+                    <position>-82.4711,-654.938,21.2227</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2392,7 +2392,7 @@
                     <name>"CS17"</name>
                     <displayName>"SCSYS_R_FOOT_SKIN_14"</displayName>
                     <nodeID>"23512(USERADDED)"</nodeID>
-                    <position>-76.5009,-654.938,2.84824</position>
+                    <position>-37.7181,-654.938,45.9209</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2405,7 +2405,7 @@
                     <name>"CS18"</name>
                     <displayName>"SCSYS_R_FOOT_SKIN_15"</displayName>
                     <nodeID>"23513(USERADDED)"</nodeID>
-                    <position>-57.6031,-654.938,-1.16861</position>
+                    <position>-43.6883,-654.938,64.2953</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -3847,7 +3847,7 @@
                     <name>"CS6"</name>
                     <displayName>"SCSYS_L_FOOT_SKIN_0"</displayName>
                     <nodeID>"21933(USERADDED)"</nodeID>
-                    <position>37.8072,-654.938,46.0271</position>
+                    <position>76.59,-654.938,2.95439</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -3860,7 +3860,7 @@
                     <name>"CS7"</name>
                     <displayName>"SCSYS_L_FOOT_SKIN_1"</displayName>
                     <nodeID>"21934(USERADDED)"</nodeID>
-                    <position>50.7353,-654.938,31.6695</position>
+                    <position>82.5607,-654.938,21.3288</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -3873,7 +3873,7 @@
                     <name>"CS8"</name>
                     <displayName>"SCSYS_L_FOOT_SKIN_2"</displayName>
                     <nodeID>"21935(USERADDED)"</nodeID>
-                    <position>44.7646,-654.938,13.2951</position>
+                    <position>101.458,-654.938,25.3457</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -3886,7 +3886,7 @@
                     <name>"CS9"</name>
                     <displayName>"SCSYS_L_FOOT_SKIN_3"</displayName>
                     <nodeID>"21936(USERADDED)"</nodeID>
-                    <position>57.6927,-654.938,-1.06247</position>
+                    <position>107.429,-654.938,43.7201</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -3899,7 +3899,7 @@
                     <name>"CS10"</name>
                     <displayName>"SCSYS_L_FOOT_SKIN_4"</displayName>
                     <nodeID>"21937(USERADDED)"</nodeID>
-                    <position>76.59,-654.938,2.95439</position>
+                    <position>94.5006,-654.938,58.0776</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -3912,7 +3912,7 @@
                     <name>"CS11"</name>
                     <displayName>"SCSYS_L_FOOT_SKIN_8"</displayName>
                     <nodeID>"21938(USERADDED)"</nodeID>
-                    <position>101.458,-654.938,25.3457</position>
+                    <position>62.6757,-654.938,68.4183</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -3925,7 +3925,7 @@
                     <name>"CS12"</name>
                     <displayName>"SCSYS_L_FOOT_SKIN_9"</displayName>
                     <nodeID>"21939(USERADDED)"</nodeID>
-                    <position>107.429,-654.938,43.7201</position>
+                    <position>43.7779,-654.938,64.4015</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -3938,7 +3938,7 @@
                     <name>"CS13"</name>
                     <displayName>"SCSYS_L_FOOT_SKIN_10"</displayName>
                     <nodeID>"21940(USERADDED)"</nodeID>
-                    <position>94.5006,-654.938,58.0776</position>
+                    <position>37.8072,-654.938,46.0271</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -3951,7 +3951,7 @@
                     <name>"CS14"</name>
                     <displayName>"SCSYS_L_FOOT_SKIN_11"</displayName>
                     <nodeID>"21941(USERADDED)"</nodeID>
-                    <position>75.6033,-654.938,54.0608</position>
+                    <position>50.7353,-654.938,31.6695</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -3977,7 +3977,7 @@
                     <name>"CS16"</name>
                     <displayName>"SCSYS_L_FOOT_SKIN_13"</displayName>
                     <nodeID>"21943(USERADDED)"</nodeID>
-                    <position>82.5607,-654.938,21.3288</position>
+                    <position>75.6033,-654.938,54.0608</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -3990,7 +3990,7 @@
                     <name>"CS17"</name>
                     <displayName>"SCSYS_L_FOOT_SKIN_14"</displayName>
                     <nodeID>"21944(USERADDED)"</nodeID>
-                    <position>62.6757,-654.938,68.4183</position>
+                    <position>44.7646,-654.938,13.2951</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -4003,7 +4003,7 @@
                     <name>"CS18"</name>
                     <displayName>"SCSYS_L_FOOT_SKIN_15"</displayName>
                     <nodeID>"21945(USERADDED)"</nodeID>
-                    <position>43.7779,-654.938,64.4015</position>
+                    <position>57.6927,-654.938,-1.06247</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>