diff --git a/etc/parameters/default.json b/etc/parameters/default.json
index e28829843d..6004f605c1 100644
--- a/etc/parameters/default.json
+++ b/etc/parameters/default.json
@@ -1071,16 +1071,17 @@
       "position": [-0.22, -0.04],
       "position_offset": [0.0, 0.0],
       "orientation": 0.0,
-      "reached_thresholds": [0.04, 0.03, 0.1],
-      "precision_kick_reached_thresholds": [0.02, 0.01, 0.015],
+      "reached_thresholds": [0.06, 0.04, 0.07],
+      "precision_kick_reached_thresholds": [0.04, 0.02, 0.05],
       "shot_distance": 4.0,
       "enabled": true
     },
     "turn": {
       "position": [-0.145, -0.08],
       "orientation": 0.9,
-      "reached_thresholds": [0.04, 0.04, 0.1],
-      "precision_kick_reached_thresholds": [0.0, 0.0, 0.0],
+      "position_offset": [0.0, 0.0],
+      "reached_thresholds": [0.06, 0.06, 0.12],
+      "precision_kick_reached_thresholds": [0.04, 0.04, 0.1],
       "shot_distance": 3.5,
       "enabled": true
     },
@@ -1088,9 +1089,9 @@
       "position": [-0.15, 0.03],
       "position_offset": [0.0, 0.0],
       "orientation": -1.57,
-      "reached_thresholds": [0.05, 0.06, 0.1],
-      "precision_kick_reached_thresholds": [0.0, 0.0, 0.0],
-      "shot_distance": 0.5,
+      "reached_thresholds": [0.07, 0.08, 0.12],
+      "precision_kick_reached_thresholds": [0.05, 0.06, 0.1],
+      "shot_distance": 0.8,
       "enabled": true
     }
   },
diff --git a/etc/parameters/head.P0000074A03S85B00016.json b/etc/parameters/head.P0000074A03S85B00016.json
index 9afe203e69..7630198191 100644
--- a/etc/parameters/head.P0000074A03S85B00016.json
+++ b/etc/parameters/head.P0000074A03S85B00016.json
@@ -2,16 +2,12 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -1.69705331325531,
-        -0.34364014863967896,
-        -0.41124433279037476
+        -2.72135853767395, 3.822335720062256, -0.8703884482383728
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -4.3482441902160645,
-        -0.47342777252197266,
-        0.0392228364944458
+        -4.46786642074585, 0.42489588260650635, -0.18990039825439453
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A05S98U00019.json b/etc/parameters/head.P0000074A05S98U00019.json
index 53a1757fb0..a84ad62560 100644
--- a/etc/parameters/head.P0000074A05S98U00019.json
+++ b/etc/parameters/head.P0000074A05S98U00019.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -1.094749927520752,
-        6.574273109436035,
-        -0.9893721342086792
+        -1.4062178134918213,
+        3.2122440338134766,
+        -1.0124963521957397
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -3.026418685913086,
-        5.58524227142334,
-        -0.7207059860229492
+        -3.4089455604553223,
+        3.412630081176758,
+        -0.5929854512214661
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A06S9A900006.json b/etc/parameters/head.P0000074A06S9A900006.json
index 344d25dbe5..42fd3995fa 100644
--- a/etc/parameters/head.P0000074A06S9A900006.json
+++ b/etc/parameters/head.P0000074A06S9A900006.json
@@ -2,16 +2,12 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        0.0,
-        1.0669934749603271,
-        -0.004975497722625732
+        -0.9637901186943054, 1.830570101737976, -0.9879335761070251
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -1.8400973081588745,
-        2.4051421880722046,
-        0.2623414993286133
+        -2.891505241394043, 4.0365118980407715, -0.8275419473648071
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A09S28J00025.json b/etc/parameters/head.P0000074A09S28J00025.json
index e20bdf800c..c8f3b41cee 100644
--- a/etc/parameters/head.P0000074A09S28J00025.json
+++ b/etc/parameters/head.P0000074A09S28J00025.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -6.421729564666748,
-        2.290815830230713,
-        -0.1414141058921814
+        -5.823334217071533,
+        2.5707240104675293,
+        0.8289295434951782
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -6.871341228485107,
-        3.9096431732177734,
-        -0.40609270334243774
+        -6.703361511230469,
+        3.664271354675293,
+        -0.6644251942634583
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A09S31C00023.json b/etc/parameters/head.P0000074A09S31C00023.json
index fff6ae89d0..d48c9dbab9 100644
--- a/etc/parameters/head.P0000074A09S31C00023.json
+++ b/etc/parameters/head.P0000074A09S31C00023.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -4.24737274646759,
-        -0.42051762342453,
-        0.5215591192245483
+        -3.8449547290802,
+        0.8310127258300781,
+        -0.8390218019485474
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -5.879413604736328,
-        -0.2684551477432251,
-        1.308302879333496
+        -5.334465980529785,
+        1.0237079858779907,
+        -0.3370177745819092
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A09S31C00028.json b/etc/parameters/head.P0000074A09S31C00028.json
index 21d460e93b..230c288a84 100644
--- a/etc/parameters/head.P0000074A09S31C00028.json
+++ b/etc/parameters/head.P0000074A09S31C00028.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -0.38102924823760986,
-        1.616397500038147,
-        -0.6749475002288818
+        -0.4714089632034302,
+        2.6275885105133057,
+        -0.05077689886093139
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -3.1643271446228027,
-        2.430558681488037,
-        -1.2855684757232666
+        -2.88857364654541,
+        3.5942726135253906,
+        -1.3512763977050781
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A09S31C00029.json b/etc/parameters/head.P0000074A09S31C00029.json
index eee3e79af6..fa2ea99214 100644
--- a/etc/parameters/head.P0000074A09S31C00029.json
+++ b/etc/parameters/head.P0000074A09S31C00029.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -4.096397399902344,
-        1.5083616971969604,
-        0.36477863788604736
+        -4.739768981933594,
+        1.971403956413269,
+        0.6792354583740234
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -4.605247497558594,
-        1.7912685871124268,
-        -0.8745011687278748
+        -4.132087707519531,
+        2.4408602714538574,
+        -0.560128390789032
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A09S31C00037.json b/etc/parameters/head.P0000074A09S31C00037.json
index 1a37049410..7cdfd420ab 100644
--- a/etc/parameters/head.P0000074A09S31C00037.json
+++ b/etc/parameters/head.P0000074A09S31C00037.json
@@ -2,16 +2,12 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -3.7042431831359863,
-        4.5806427001953125,
-        1.1136245727539062
+        -0.8664080500602722, 3.553433418273926, -0.33780813217163086
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -4.110447883605957,
-        4.721715927124023,
-        -1.4346160888671875
+        -0.8014833927154541, 3.4765684604644775, -0.4619362950325012
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A09S31T00003.json b/etc/parameters/head.P0000074A09S31T00003.json
index 699cd38deb..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": [
-        -3.5326740741729736,
-        -3.0798349380493164,
-        0.040860772132873535
+        -3.411283493041992,
+        -1.2553954124450684,
+        0.3223353624343872
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -4.496262073516846,
-        -3.341855525970459,
-        1.0221058130264282
+        -4.658981800079346,
+        -1.7291531562805176,
+        1.808822751045227
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A10S41M00040.json b/etc/parameters/head.P0000074A10S41M00040.json
index 9cc2f9489f..3775746d0a 100644
--- a/etc/parameters/head.P0000074A10S41M00040.json
+++ b/etc/parameters/head.P0000074A10S41M00040.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -4.656322956085205,
-        -1.4568310976028442,
-        0.4995846748352051
+        -4.511622428894043,
+        -2.427844524383545,
+        0.01938164234161377
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -6.169203281402588,
-        -0.28863340616226196,
-        1.1745715141296387
+        -6.188063621520996,
+        -0.9570738673210144,
+        1.2032711505889893
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A10S41M00047.json b/etc/parameters/head.P0000074A10S41M00047.json
index 2231539be6..9e613bd77c 100644
--- a/etc/parameters/head.P0000074A10S41M00047.json
+++ b/etc/parameters/head.P0000074A10S41M00047.json
@@ -2,16 +2,16 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -4.755054950714111,
-        0.6511008739471436,
-        -0.3200814127922058
+        -4.459723949432373,
+        -1.5433313846588135,
+        -1.3483929634094238
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -6.378819465637207,
-        1.1614716053009033,
-        -0.7613387703895569
+        -6.355825901031494,
+        -0.49191176891326904,
+        -1.0342803001403809
       ]
     }
   }
diff --git a/etc/parameters/head.P0000074A10S41M00048.json b/etc/parameters/head.P0000074A10S41M00048.json
index 4c5bbf93a2..c493bed4d0 100644
--- a/etc/parameters/head.P0000074A10S41M00048.json
+++ b/etc/parameters/head.P0000074A10S41M00048.json
@@ -2,16 +2,12 @@
   "camera_matrix_parameters": {
     "vision_bottom": {
       "extrinsic_rotations": [
-        -3.8277313709259033,
-        0.7709097862243652,
-        -0.12641429901123047
+        0.5848163366317749, 1.0660958290100098, -0.8569559454917908
       ]
     },
     "vision_top": {
       "extrinsic_rotations": [
-        -5.975536346435547,
-        2.511253833770752,
-        -0.15128731727600098
+        -1.2892045974731445, 3.788731098175049, 0.5328315496444702
       ]
     }
   }