diff --git a/icub_description/srdf/icub.srdf b/icub_description/srdf/icub.srdf
index ad378d2125ab0ea72a60931859bf4c3ec309a611..cef8b160d0c2fc50b4a894e0d2e306fefcc0e967 100644
--- a/icub_description/srdf/icub.srdf
+++ b/icub_description/srdf/icub.srdf
@@ -8,7 +8,7 @@
         <joint name="l_knee" />
         <joint name="l_ankle_pitch" />
         <joint name="l_ankle_roll" />
-        <chain base_link="chest" tip_link="l_foot_ft_sensor" />
+        <chain base_link="chest" tip_link="l_foot_dh_frame_fixed_joint" />
     </group>
     <group name="r_leg">
         <joint name="r_hip_pitch" />
@@ -17,7 +17,8 @@
         <joint name="r_knee" />
         <joint name="r_ankle_pitch" />
         <joint name="r_ankle_roll" />
-        <chain base_link="chest" tip_link="r_foot_ft_sensor" />    </group>
+        <chain base_link="chest" tip_link="r_foot_dh_frame_fixed_joint" />
+    </group>
     <group name="l_arm">
         <joint name="l_shoulder_pitch" />
         <joint name="l_shoulder_roll" />
@@ -71,7 +72,7 @@
     <end_effector name="left_eef" parent_link="wrist_left_ft_tool_link" group="l_hand_dh_frame_fixed_joint" parent_group="left_arm" />
 
     <group_state name="half_sitting" group="all">
-        <joint name="root_joint" value="0. 0. 0.60 0. 0. 0. 1." />
+        <joint name="root_joint" value="0. 0. 0.60 0. 0. 1. 0." />
         <!-- legs -->
         <joint name="l_hip_pitch" value="0." />
         <joint name="l_hip_roll" value="0." />