diff --git a/etc/parameters/default.json b/etc/parameters/default.json
index 30b547a497..eb891543a4 100644
--- a/etc/parameters/default.json
+++ b/etc/parameters/default.json
@@ -7,7 +7,7 @@
     "minimum_overall_keypoint_confidence": 0.5,
     "minimum_visual_referee_keypoint_confidence": 0.8,
     "minimum_shoulder_angle": 0.2,
-    "foot_z_offset": 0.1,
+    "foot_z_offset": 0.025,
     "referee_pose_queue_length": 8,
     "minimum_number_poses_before_message": 3
   },
diff --git a/etc/parameters/head.P0000074A03S85B00016.json b/etc/parameters/head.P0000074A03S85B00016.json
index 25752f794a..48d1ed0911 100644
--- a/etc/parameters/head.P0000074A03S85B00016.json
+++ b/etc/parameters/head.P0000074A03S85B00016.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -2.423551082611084,
-        3.352663040161133,
-        -0.07344692945480347
+        -1.6595532894134521,
+        0.466344952583313,
+        -0.5994334816932678
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -5.052081108093262,
-        3.155139684677124,
-        0.0892031192779541
+        -4.46786642074585,
+        0.42489588260650635,
+        -0.18990039825439453
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A05S98U00019.json b/etc/parameters/head.P0000074A05S98U00019.json
index f9bdb30d24..d0258d01d9 100644
--- a/etc/parameters/head.P0000074A05S98U00019.json
+++ b/etc/parameters/head.P0000074A05S98U00019.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -0.5506458878517151,
-        0.9952729940414428,
-        -1.003069281578064
+        0.09330689907073976,
+        -0.7592868804931641,
+        -1.6509246826171875
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -2.934561014175415,
-        0.5868279933929443,
-        -0.6917399168014526
+        -2.1860764026641846,
+        -0.5329468846321106,
+        -0.5480825901031494
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A06S9A900006.json b/etc/parameters/head.P0000074A06S9A900006.json
index 2b6cdc208c..e838451df6 100644
--- a/etc/parameters/head.P0000074A06S9A900006.json
+++ b/etc/parameters/head.P0000074A06S9A900006.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -0.9637901186943054,
-        0.7536417245864868,
-        -0.9879335761070251
+        -0.8452954888343811,
+        2.1426737308502197,
+        -0.5814680457115173
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -2.8752171993255615,
-        1.763572096824646,
-        -0.8275419473648071
+        -2.9515304565429688,
+        2.5513601303100586,
+        -0.6546038389205933
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A09S28J00025.json b/etc/parameters/head.P0000074A09S28J00025.json
index 274961edac..3c57d5df2a 100644
--- a/etc/parameters/head.P0000074A09S28J00025.json
+++ b/etc/parameters/head.P0000074A09S28J00025.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -5.98040246963501,
-        -0.30782192945480347,
-        0.39614975452423096
+        -5.827461242675781,
+        -0.6944963335990906,
+        -0.10601252317428589
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -6.5502448081970215,
-        0.970650315284729,
-        -0.6690046191215515
+        -6.622339248657227,
+        -0.05070090293884277,
+        -1.2348836660385132
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A09S31C00023.json b/etc/parameters/head.P0000074A09S31C00023.json
index dc063c1ee3..7b467f6389 100644
--- a/etc/parameters/head.P0000074A09S31C00023.json
+++ b/etc/parameters/head.P0000074A09S31C00023.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -3.490844964981079,
-        1.1375266313552856,
-        -0.26475459337234497
+        -3.2988202571868896,
+        -1.5605297088623047,
+        -1.2982580661773682
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -5.071846961975098,
-        1.8903601169586182,
-        -0.08163660764694214
+        -5.061725616455078,
+        -1.5120086669921875,
+        -0.8641102910041809
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A09S31C00028.json b/etc/parameters/head.P0000074A09S31C00028.json
index 3b08ddb045..e1b86dd7c2 100644
--- a/etc/parameters/head.P0000074A09S31C00028.json
+++ b/etc/parameters/head.P0000074A09S31C00028.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -0.2328801155090332,
-        0.10781407356262207,
-        -0.7409030199050903
+        -0.5463731288909912,
+        1.882912516593933,
+        -0.6743565201759338
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -2.88857364654541,
-        1.4613926410675049,
-        -1.265026330947876
+        -3.123825788497925,
+        2.480703592300415,
+        -1.5881824493408203
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A09S31C00037.json b/etc/parameters/head.P0000074A09S31C00037.json
index 879f3bddff..d68dd30365 100644
--- a/etc/parameters/head.P0000074A09S31C00037.json
+++ b/etc/parameters/head.P0000074A09S31C00037.json
@@ -2,15 +2,15 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -0.33959001302719116,
-        2.0362095832824707,
-        -0.3329542279243469
+        -0.041506290435791016,
+        -0.038394033908843994,
+        -0.8191251754760742
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -0.6898820400238037,
-        2.3968095779418945,
+        -0.4787662625312805,
+        0.2766430377960205,
         -1.1831992864608765
       ]
     }
diff --git a/etc/parameters/head.P0000074A09S31T00003.json b/etc/parameters/head.P0000074A09S31T00003.json
index 5848f5bdce..f76ad14ca9 100644
--- a/etc/parameters/head.P0000074A09S31T00003.json
+++ b/etc/parameters/head.P0000074A09S31T00003.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -3.6187219619750977,
-        -0.8139878511428833,
-        0.9175640344619751
+        -3.411283493041992,
+        -1.2553954124450684,
+        0.3223353624343872
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -4.764617919921875,
-        -1.7037651538848877,
-        1.8840068578720093
+        -4.658981800079346,
+        -1.7291531562805176,
+        1.808822751045227
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A10S41M00040.json b/etc/parameters/head.P0000074A10S41M00040.json
index ae0a34b9bf..1261af82dd 100644
--- a/etc/parameters/head.P0000074A10S41M00040.json
+++ b/etc/parameters/head.P0000074A10S41M00040.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -4.933622360229492,
-        -3.674492359161377,
-        0.15570402145385742
+        -4.284955024719238,
+        1.232929229736328,
+        1.0500186681747437
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -6.206871032714844,
-        -2.7951622009277344,
-        0.6573504209518433
+        -5.8601393699646,
+        2.551642656326294,
+        1.2927675247192383
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A10S41M00047.json b/etc/parameters/head.P0000074A10S41M00047.json
index c7de09d705..9635e4a28a 100644
--- a/etc/parameters/head.P0000074A10S41M00047.json
+++ b/etc/parameters/head.P0000074A10S41M00047.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -4.626957893371582,
-        1.169305443763733,
-        -0.4329165816307068
+        -4.248881816864014,
+        -2.328246831893921,
+        -1.515120029449463
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -6.355825901031494,
-        2.4949355125427246,
-        -0.7075309753417969
+        -6.027913570404053,
+        -1.5472322702407837,
+        -0.8696275949478149
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A10S41M00048.json b/etc/parameters/head.P0000074A10S41M00048.json
index 8c37be3e0a..b724ef4656 100644
--- a/etc/parameters/head.P0000074A10S41M00048.json
+++ b/etc/parameters/head.P0000074A10S41M00048.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        0.736275315284729,
-        1.0660958290100098,
-        -0.29779762029647827
+        1.0287988185882568,
+        2.8031623363494873,
+        0.2115708589553833
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -1.4109375476837158,
-        2.276233434677124,
-        -0.09490817785263062
+        -1.2892045974731445,
+        3.788731098175049,
+        0.5328315496444702
       ]
     }
   }