diff --git a/iCubGenova11/CMakeLists.txt b/iCubGenova11/CMakeLists.txt
index dfec567898..45feb56b49 100644
--- a/iCubGenova11/CMakeLists.txt
+++ b/iCubGenova11/CMakeLists.txt
@@ -10,4 +10,5 @@ yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/$
 yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
 yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
 yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
+yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY checker DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
diff --git a/iCubGenova11/calibrators/left_arm-calib.xml b/iCubGenova11/calibrators/left_arm-calib.xml
index d5466212ed..f6048e598e 100644
--- a/iCubGenova11/calibrators/left_arm-calib.xml
+++ b/iCubGenova11/calibrators/left_arm-calib.xml
@@ -31,7 +31,7 @@
 			<param name="startupPosThreshold">    2          2          2          2         90     90     90    90    90    90    90    90    90     90     90    90    </param>
 		</group>
 
-		<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)</param>
+		<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14)</param>
        	<!-- <param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)</param> -->
 		<action phase="startup" level="10" type="calibrate">
 		    <param name="target">left_arm-mc_remapper</param>
diff --git a/iCubGenova11/calibrators/right_arm-calib.xml b/iCubGenova11/calibrators/right_arm-calib.xml
index f42631312f..9d82a14b65 100644
--- a/iCubGenova11/calibrators/right_arm-calib.xml
+++ b/iCubGenova11/calibrators/right_arm-calib.xml
@@ -33,7 +33,7 @@
 </group>
 
 
-	<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6) (8 9 11 13) (10 12 14 15)</param>
+	<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6) (8 9 11 13) (10 12 14)</param>
 	<!-- <param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)</param> -->
 
 		<action phase="startup" level="10" type="calibrate">
@@ -47,4 +47,3 @@
 		<action phase="interrupt3" level="1" type="abort" />
 
 	</device>
-
diff --git a/iCubGenova11/checker/fineCalibrationCheckerConfig.xml b/iCubGenova11/checker/fineCalibrationCheckerConfig.xml
new file mode 100644
index 0000000000..92f857d999
--- /dev/null
+++ b/iCubGenova11/checker/fineCalibrationCheckerConfig.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="fineCalibrationChecker" type="fineCalibrationChecker">
+        <param name="devicename">fineCalibrationChecker</param>
+        <param name="robotname">iCubGenova11</param>
+        <param name="remoteRawValuesPort">/left_arm/raw_data</param> <!--right_arm/raw_data if needed other control board-->
+        <!-- <param name="axesNamesList">(r_shoulder_pitch, r_shoulder_roll, r_shoulder_yaw, r_elbow)</param> -->
+        <param name="axesNamesList">(l_shoulder_pitch, l_shoulder_roll, l_shoulder_yaw, l_elbow)</param>
+        <!-- <param name="goldPositions">(35535, 33135, 24960, 25983)</param> --> <!--right_arm-->
+        <param name="goldPositions">(58559, 22639, 48830, 51983)</param> <!--left_arm-->
+        <!--<param name="calibrationDeltas">(1.0, -9.2, -14.2, 0 )</param> --> <!--right_arm-->
+        <param name="calibrationDeltas">(0, -9.2, -17.1, -2.7 )</param> <!--left_arm-->
+        <param name="encoderResolutions">(262144, 262144, 262144, 262144)</param> <!--2^18 raw encoder resolution-->
+
+
+        <action phase="startup" level="15" type="attach">
+            <paramlist name="networks">
+                <elem name="setup_joint_0">left_arm-eb1-j0_3-mc</elem>
+                <!-- <elem name="setup_joint_0">right_arm-eb3-j0_3-mc</elem> --> <!--right_arm -->
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="2" type="detach" />
+
+    </device>
diff --git a/iCubGenova11/icub_all_no_legs.xml b/iCubGenova11/icub_all_no_legs.xml
index 3eaf962f4d..cf8801a774 100644
--- a/iCubGenova11/icub_all_no_legs.xml
+++ b/iCubGenova11/icub_all_no_legs.xml
@@ -95,5 +95,9 @@
     <xi:include href="calibrators/head-calib.xml" />
     <xi:include href="calibrators/face-calib.xml" />
 
+    <!-- FINE CALIBRATOR CHECKER DEMO and TEST -->
+    <xi:include href="wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml" />
+    <!-- <xi:include href="wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml" /> -->
+    <xi:include href="checker/fineCalibrationCheckerConfig.xml" />
     </devices>
 </robot>
diff --git a/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml b/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml
new file mode 100644
index 0000000000..28b19a62b1
--- /dev/null
+++ b/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-rawval_nws_yarp" type="rawValuesPublisherServer">
+    <param name="name"> /left_arm/raw_data </param>
+    <param name="period"> 2 </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> left_arm-eb1-j0_3-mc </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
\ No newline at end of file
diff --git a/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml b/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml
new file mode 100644
index 0000000000..6912c0ad75
--- /dev/null
+++ b/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-rawval_nws_yarp" type="rawValuesPublisherServer">
+    <param name="name"> /right_arm/raw_data </param>
+    <param name="period"> 2 </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> right_arm-eb3-j0_3-mc </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
\ No newline at end of file
diff --git a/tests/dry-run/check-xml/schemas/wrapper.xsd b/tests/dry-run/check-xml/schemas/wrapper.xsd
index 70068f93e5..45e9271163 100644
--- a/tests/dry-run/check-xml/schemas/wrapper.xsd
+++ b/tests/dry-run/check-xml/schemas/wrapper.xsd
@@ -75,6 +75,7 @@
     <xs:enumeration value="controlBoard_nws_yarp" />
     <xs:enumeration value="controlBoard_nws_ros" />
     <xs:enumeration value="controlBoard_nws_ros2" />
+    <xs:enumeration value="rawValuesPublisherServer"/>
   </xs:restriction>
 </xs:simpleType>