diff --git a/iRonCub-Mk3/estimators/ft_secondary_calibration_models/leftJet_ft_models/correction.xml b/iRonCub-Mk3/estimators/ft_secondary_calibration_models/leftJet_ft_models/correction.xml
new file mode 100644
index 0000000000..02c6796b63
--- /dev/null
+++ b/iRonCub-Mk3/estimators/ft_secondary_calibration_models/leftJet_ft_models/correction.xml
@@ -0,0 +1,18 @@
+
+
+ 1
+ 6
+ 7
+ 0
+ 0
+ correction
+ (0.9755 0 0 0 0 0)
+ (0 1 0 0 0 0)
+ (0 0 1.1028 0 0 0)
+ (0 0 0 1 0 0)
+ (0 0 0 0 0.9822 0)
+ (0 0 0 0 0 1)
+ (0 0 0 0 0 0)
+ (49.7899 -30 20.0616 0 -0.1048 0)
+
+
diff --git a/iRonCub-Mk3/estimators/ft_secondary_calibration_models/rightJet_ft_models/correction.xml b/iRonCub-Mk3/estimators/ft_secondary_calibration_models/rightJet_ft_models/correction.xml
new file mode 100644
index 0000000000..8f8c0b9a9b
--- /dev/null
+++ b/iRonCub-Mk3/estimators/ft_secondary_calibration_models/rightJet_ft_models/correction.xml
@@ -0,0 +1,17 @@
+
+
+ 1
+ 6
+ 7
+ 0
+ 0
+ correction
+ (0.866 0 0 0 0 0)
+ (0 1 0 0 0 0)
+ (0 0 1.0067 0 0 0)
+ (0 0 0 1 0 0)
+ (0 0 0 0 0.972 0)
+ (0 0 0 0 0 1)
+ (0 0 0 0 0 0)
+ (-3.0034 115 61.3874 0 0.7267 0)
+
diff --git a/iRonCub-Mk3/estimators/wholebodydynamics-external.xml b/iRonCub-Mk3/estimators/wholebodydynamics-external.xml
index 1af7aa42f3..9e372f24c2 100644
--- a/iRonCub-Mk3/estimators/wholebodydynamics-external.xml
+++ b/iRonCub-Mk3/estimators/wholebodydynamics-external.xml
@@ -33,7 +33,7 @@
0.001
l_jet_ft
-
+
@@ -47,7 +47,7 @@
0.001
r_jet_ft
-
+
@@ -120,7 +120,7 @@
(0,0,-9.81)
(l_elbow_1,chest_l_jet_turbine,chest_r_jet_turbine,r_elbow_1,root_link,l_sole,r_sole,l_ankle_1,r_ankle_1,l_foot_front,r_foot_front)
(l_arm_jet_turbine, r_arm_jet_turbine, chest_l_jet_turbine, chest_r_jet_turbine, root_link, l_foot_rear, r_foot_rear, l_foot_front, r_foot_front)
- ( pure , pure , pure , pure , full , full , full , full , full )
+ ( pure , pure , pureKnown , pureKnown , full , full , full , full , full )
(0,0,1 , 0,0,1 , 0,0,1 , 0,0,1 , 0,0,0 , 0,0,0 ,0,0,0 , 0,0,0 , 0,0,0 )
( 0,0,0 , 0,0,0 , 0,0,0 , 0,0,0 , 0,0,0 , 0,0,0 ,0,0,0 , 0,0,0 , 0,0,0 )
chest_imu
diff --git a/iRonCub-Mk3/estimators/wholebodydynamics.xml b/iRonCub-Mk3/estimators/wholebodydynamics.xml
index 1afc1eea21..aa1f4d5b35 100644
--- a/iRonCub-Mk3/estimators/wholebodydynamics.xml
+++ b/iRonCub-Mk3/estimators/wholebodydynamics.xml
@@ -33,7 +33,7 @@
0.001
l_jet_ft
-
+
@@ -47,7 +47,7 @@
0.001
r_jet_ft
-
+
@@ -120,7 +120,7 @@
(0,0,-9.81)
(l_elbow_1,chest_l_jet_turbine,chest_r_jet_turbine,r_elbow_1,root_link,l_sole,r_sole,l_ankle_1,r_ankle_1,l_foot_front,r_foot_front)
(l_arm_jet_turbine, r_arm_jet_turbine, chest_l_jet_turbine, chest_r_jet_turbine, root_link, l_foot_rear, r_foot_rear, l_foot_front, r_foot_front)
- ( pure , pure , pure , pure , full , full , full , full , full )
+ ( pure , pure , pureKnown , pureKnown , full , full , full , full , full )
(0,0,1 , 0,0,1 , 0,0,1 , 0,0,1 , 0,0,0 , 0,0,0 ,0,0,0 , 0,0,0 , 0,0,0 )
( 0,0,0 , 0,0,0 , 0,0,0 , 0,0,0 , 0,0,0 , 0,0,0 ,0,0,0 , 0,0,0 , 0,0,0 )
chest_imu