diff --git a/ergoCubSN001/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml b/ergoCubSN001/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
index b1694600f3..a021ef705b 100644
--- a/ergoCubSN001/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
@@ -33,7 +33,7 @@
         <param name="HasRotorEncoder">            1             1     1     1     </param>
         <param name="HasRotorEncoderIndex">       1             1     1     1     </param>
         <param name="HasSpeedEncoder">            0             0     0     0     </param>
-        <param name="RotorIndexOffset">           162           98    53    237   </param>
+        <param name="RotorIndexOffset">           337           148   112   113   </param>
         <param name="MotorPoles">                 12            8     8     12    </param>
    </group>
 
diff --git a/ergoCubSN001/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml b/ergoCubSN001/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
index ba50863ff7..11a5caf96c 100644
--- a/ergoCubSN001/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
@@ -34,7 +34,7 @@
         <param name="HasRotorEncoder">           1             1   </param>
         <param name="HasRotorEncoderIndex">      1             1   </param>
         <param name="HasSpeedEncoder">           0             0   </param>
-        <param name="RotorIndexOffset">          152           33  </param>
+        <param name="RotorIndexOffset">          255           206 </param>
         <param name="MotorPoles">                12            8   </param>
     </group>
 
diff --git a/ergoCubSN001/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml b/ergoCubSN001/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml
index f529c46602..b468ad1c86 100644
--- a/ergoCubSN001/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml
@@ -36,8 +36,8 @@
         <param name="HasRotorEncoder">       1             1        1   1  </param>
         <param name="HasRotorEncoderIndex">  1             1        1   1  </param>
         <param name="HasSpeedEncoder">       0             0        0   0  </param>
-        <param name="RotorIndexOffset">      203           286      48  184   </param>
-        <param name="MotorPoles">            12            8        8   12  </param>
+        <param name="RotorIndexOffset">      170           350      62  89 </param>
+        <param name="MotorPoles">            12            8        8   12 </param>
    </group>
 
     <group name="COUPLINGS"> 
diff --git a/ergoCubSN001/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml b/ergoCubSN001/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
index 86eb14b0bf..a1aa8e589b 100644
--- a/ergoCubSN001/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
@@ -33,8 +33,8 @@
         <param name="HasRotorEncoder">                1             1       </param>
         <param name="HasRotorEncoderIndex">           1             1       </param>
         <param name="HasSpeedEncoder">                0             0       </param>
-        <param name="RotorIndexOffset">               166           273     </param>
-        <param name="MotorPoles">                    12             8       </param>
+        <param name="RotorIndexOffset">               175           8       </param>
+        <param name="MotorPoles">                     12            8       </param>
     </group>
 
     <group name="COUPLINGS">