diff --git a/src/roboglue_ros/config/data/test99.data b/src/roboglue_ros/config/data/test99.data
index 27ed096..5979750 100644
--- a/src/roboglue_ros/config/data/test99.data
+++ b/src/roboglue_ros/config/data/test99.data
@@ -1,51 +1,51 @@
 N,X,Y,Z,rR,rP,rY,DT,DS
-N0,0.018000,0.306000,0.500000,1.570000,-2.680000,0.000000,0.000000,0.000000
-N1,0.018000,0.312000,0.500000,1.570000,-2.680000,0.000000,0.095493,0.006000
-N2,0.018000,0.318000,0.500000,1.570000,-2.680000,0.000000,0.177313,0.006000
-N3,0.018000,0.324000,0.500000,1.570000,-2.680000,0.000000,0.276251,0.006000
-N4,-0.006000,0.324000,0.500000,1.570000,-2.680000,0.000000,0.376993,0.024000
-N5,-0.024000,0.312000,0.500000,1.570000,-2.680000,0.000000,0.477276,0.021633
-N6,-0.030000,0.288000,0.500000,1.570000,-2.680000,0.000000,0.583836,0.024739
-N7,-0.048000,0.258000,0.500000,1.570000,-2.680000,0.000000,0.674398,0.034986
-N8,-0.060000,0.246000,0.500000,1.570000,-2.680000,0.000000,0.779036,0.016971
-N9,-0.066000,0.240000,0.500000,1.570000,-2.680000,0.000000,0.878682,0.008485
-N10,-0.078000,0.240000,0.500000,1.570000,-2.680000,0.000000,0.985584,0.012000
-N11,-0.126000,0.240000,0.500000,1.570000,-2.680000,0.000000,1.076938,0.048000
-N12,-0.150000,0.240000,0.500000,1.570000,-2.680000,0.000000,1.173122,0.024000
-N13,-0.162000,0.252000,0.500000,1.570000,-2.680000,0.000000,1.278250,0.016971
-N14,-0.174000,0.258000,0.500000,1.570000,-2.680000,0.000000,1.378685,0.013416
-N15,-0.186000,0.276000,0.500000,1.570000,-2.680000,0.000000,1.484213,0.021633
-N16,-0.198000,0.300000,0.500000,1.570000,-2.680000,0.000000,1.576499,0.026833
-N17,-0.204000,0.324000,0.500000,1.570000,-2.680000,0.000000,1.690293,0.024739
-N18,-0.204000,0.342000,0.500000,1.570000,-2.680000,0.000000,1.780065,0.018000
-N19,-0.204000,0.378000,0.500000,1.570000,-2.680000,0.000000,1.872321,0.036000
-N20,-0.222000,0.450000,0.500000,1.570000,-2.680000,0.000000,1.977848,0.074216
-N21,-0.318000,0.468000,0.500000,1.570000,-2.680000,0.000000,2.070969,0.097673
-N22,-0.396000,0.450000,0.500000,1.570000,-2.680000,0.000000,2.177687,0.080050
-N23,-0.462000,0.348000,0.500000,1.570000,-2.680000,0.000000,2.283137,0.121491
-N24,-0.558000,0.264000,0.500000,1.570000,-2.680000,0.000000,2.392030,0.127562
-N25,-0.636000,0.246000,0.500000,1.570000,-2.680000,0.000000,2.479188,0.080050
-N26,-0.702000,0.306000,0.500000,1.570000,-2.680000,0.000000,2.581360,0.089196
-N27,-0.702000,0.402000,0.500000,1.570000,-2.680000,0.000000,2.672705,0.096000
-N28,-0.618000,0.480000,0.500000,1.570000,-2.680000,0.000000,2.780175,0.114630
-N29,-0.540000,0.468000,0.500000,1.570000,-2.680000,0.000000,2.887023,0.078918
-N30,-0.300000,0.384000,0.500000,1.570000,-2.680000,0.000000,2.980252,0.254275
-N31,-0.126000,0.336000,0.500000,1.570000,-2.680000,0.000000,3.088443,0.180499
-N32,-0.012000,0.318000,0.500000,1.570000,-2.680000,0.000000,3.172616,0.115412
-N33,0.042000,0.372000,0.500000,1.570000,-2.680000,0.000000,3.277146,0.076368
-N34,0.042000,0.396000,0.500000,1.570000,-2.680000,0.000000,3.385895,0.024000
-N35,0.024000,0.390000,0.500000,1.570000,-2.680000,0.000000,3.478245,0.018974
-N36,0.000000,0.288000,0.500000,1.570000,-2.680000,0.000000,3.585851,0.104785
-N37,0.048000,0.234000,0.500000,1.570000,-2.680000,0.000000,3.673290,0.072250
-N38,0.198000,0.252000,0.500000,1.570000,-2.680000,0.000000,3.786958,0.151076
-N39,0.252000,0.306000,0.500000,1.570000,-2.680000,0.000000,3.881606,0.076368
-N40,0.264000,0.336000,0.500000,1.570000,-2.680000,0.000000,3.977590,0.032311
-N41,0.330000,0.234000,0.500000,1.570000,-2.680000,0.000000,4.082062,0.121491
-N42,0.330000,0.162000,0.500000,1.570000,-2.680000,0.000000,4.177567,0.072000
-N43,0.336000,0.102000,0.500000,1.570000,-2.680000,0.000000,4.284022,0.060299
-N44,0.396000,0.096000,0.500000,1.570000,-2.680000,0.000000,4.377034,0.060299
-N45,0.450000,0.144000,0.500000,1.570000,-2.680000,0.000000,4.494896,0.072250
-N46,0.456000,0.252000,0.500000,1.570000,-2.680000,0.000000,4.604838,0.108167
-N47,0.420000,0.300000,0.500000,1.570000,-2.680000,0.000000,4.684846,0.060000
-N48,0.378000,0.324000,0.500000,1.570000,-2.680000,0.000000,4.774341,0.048374
-N49,0.348000,0.324000,0.500000,1.570000,-2.680000,0.000000,4.876254,0.030000
+N0,0.018000,0.306000,0.500000,0.000000,1.571000,1.571000,0.000000,0.000000
+N1,0.018000,0.312000,0.500000,0.000000,1.571000,1.571000,0.095493,0.006000
+N2,0.018000,0.318000,0.500000,0.000000,1.571000,1.571000,0.177313,0.006000
+N3,0.018000,0.324000,0.500000,0.000000,1.571000,1.571000,0.276251,0.006000
+N4,-0.006000,0.324000,0.500000,0.000000,1.571000,1.571000,0.376993,0.024000
+N5,-0.024000,0.312000,0.500000,0.000000,1.571000,1.571000,0.477276,0.021633
+N6,-0.030000,0.288000,0.500000,0.000000,1.571000,1.571000,0.583836,0.024739
+N7,-0.048000,0.258000,0.500000,0.000000,1.571000,1.571000,0.674398,0.034986
+N8,-0.060000,0.246000,0.500000,0.000000,1.571000,1.571000,0.779036,0.016971
+N9,-0.066000,0.240000,0.500000,0.000000,1.571000,1.571000,0.878682,0.008485
+N10,-0.078000,0.240000,0.500000,0.000000,1.571000,1.571000,0.985584,0.012000
+N11,-0.126000,0.240000,0.500000,0.000000,1.571000,1.571000,1.076938,0.048000
+N12,-0.150000,0.240000,0.500000,0.000000,1.571000,1.571000,1.173122,0.024000
+N13,-0.162000,0.252000,0.500000,0.000000,1.571000,1.571000,1.278250,0.016971
+N14,-0.174000,0.258000,0.500000,0.000000,1.571000,1.571000,1.378685,0.013416
+N15,-0.186000,0.276000,0.500000,0.000000,1.571000,1.571000,1.484213,0.021633
+N16,-0.198000,0.300000,0.500000,0.000000,1.571000,1.571000,0.006499,0.026833
+N17,-0.204000,0.324000,0.500000,0.000000,1.571000,1.571000,1.690293,0.024739
+N18,-0.204000,0.342000,0.500000,0.000000,1.571000,1.571000,1.780065,0.018000
+N19,-0.204000,0.378000,0.500000,0.000000,1.571000,1.571000,1.872321,0.036000
+N20,-0.222000,0.450000,0.500000,0.000000,1.571000,1.571000,1.977848,0.074216
+N21,-0.318000,0.468000,0.500000,0.000000,1.571000,1.571000,2.070969,0.097673
+N22,-0.396000,0.450000,0.500000,0.000000,1.571000,1.571000,2.177687,0.080050
+N23,-0.462000,0.348000,0.500000,0.000000,1.571000,1.571000,2.283137,0.121491
+N24,-0.558000,0.264000,0.500000,0.000000,1.571000,1.571000,2.392030,0.127562
+N25,-0.636000,0.246000,0.500000,0.000000,1.571000,1.571000,2.479188,0.080050
+N26,-0.702000,0.306000,0.500000,0.000000,1.571000,1.571000,2.581360,0.089196
+N27,-0.702000,0.402000,0.500000,0.000000,1.571000,1.571000,2.672705,0.096000
+N28,-0.618000,0.480000,0.500000,0.000000,1.571000,1.571000,2.780175,0.114630
+N29,-0.540000,0.468000,0.500000,0.000000,1.571000,1.571000,2.887023,0.078918
+N30,-0.300000,0.384000,0.500000,0.000000,1.571000,1.571000,2.980252,0.254275
+N31,-0.126000,0.336000,0.500000,0.000000,1.571000,1.571000,3.088443,0.180499
+N32,-0.012000,0.318000,0.500000,0.000000,1.571000,1.571000,3.172616,0.115412
+N33,0.042000,0.372000,0.500000,0.000000,1.571000,1.571000,3.277146,0.076368
+N34,0.042000,0.396000,0.500000,0.000000,1.571000,1.571000,3.385895,0.024000
+N35,0.024000,0.390000,0.500000,0.000000,1.571000,1.571000,3.478245,0.018974
+N36,0.000000,0.288000,0.500000,0.000000,1.571000,1.571000,3.585851,0.104785
+N37,0.048000,0.234000,0.500000,0.000000,1.571000,1.571000,3.673290,0.072250
+N38,0.198000,0.252000,0.500000,0.000000,1.571000,1.571000,3.786958,0.151076
+N39,0.252000,0.306000,0.500000,0.000000,1.571000,1.571000,3.881606,0.076368
+N40,0.264000,0.336000,0.500000,0.000000,1.571000,1.571000,3.977590,0.032311
+N41,0.330000,0.234000,0.500000,0.000000,1.571000,1.571000,4.082062,0.121491
+N42,0.330000,0.162000,0.500000,0.000000,1.571000,1.571000,4.177567,0.072000
+N43,0.336000,0.102000,0.500000,0.000000,1.571000,1.571000,4.284022,0.060299
+N44,0.396000,0.096000,0.500000,0.000000,1.571000,1.571000,4.377034,0.060299
+N45,0.450000,0.144000,0.500000,0.000000,1.571000,1.571000,4.494896,0.072250
+N46,0.456000,0.252000,0.500000,0.000000,1.571000,1.571000,4.604838,0.108167
+N47,0.420000,0.300000,0.500000,0.000000,1.571000,1.571000,4.684846,0.060000
+N48,0.378000,0.324000,0.500000,0.000000,1.571000,1.571000,4.774341,0.048374
+N49,0.348000,0.324000,0.500000,0.000000,1.571000,1.571000,4.876254,0.030000
diff --git a/src/roboglue_ros/src/roboglue_recorder.cpp b/src/roboglue_ros/src/roboglue_recorder.cpp
index 4ba76e7..adae62b 100644
--- a/src/roboglue_ros/src/roboglue_recorder.cpp
+++ b/src/roboglue_ros/src/roboglue_recorder.cpp
@@ -462,7 +462,7 @@ int main(int argc, char **argv) {
 ////////////////////////////////////////
 
 bool openFile(internalState* is, fileData* fd, nlohmann::json meta){
-    if (!is->isFileOpen){
+    if (!is->isFileOpen && !meta["name"].get<std::string>().empty()){
         // open metafile by name
         std::string metaInFilename = fd->meta_dir_name + meta["name"].get<std::string>() + fd->meta_ext;
         ROS_DEBUG("Opening Meta File: [%s]", metaInFilename.c_str());
@@ -530,6 +530,7 @@ bool openFile(internalState* is, fileData* fd, nlohmann::json meta){
             return false;
         }
     }
+    return false;
 }
 
 bool closeFile(internalState* is, fileData* fd){
@@ -544,7 +545,7 @@ bool closeFile(internalState* is, fileData* fd){
         }
        fd->playVect->clear();
        fd->recordVect->clear();
-    }
+    } return true;
 }
 
 bool startRecord(internalState* is, fileData* fd, nlohmann::json meta){
diff --git a/src/roboglue_ros/src/roboglue_utils.cpp b/src/roboglue_ros/src/roboglue_utils.cpp
index a08ede5..79eef83 100644
--- a/src/roboglue_ros/src/roboglue_utils.cpp
+++ b/src/roboglue_ros/src/roboglue_utils.cpp
@@ -105,8 +105,8 @@ geometry_msgs::PoseStamped twist2Pose(geometry_msgs::TwistStamped twt){
     newPoseStamp.pose.position.x = twt.twist.linear.x;
     newPoseStamp.pose.position.z = twt.twist.linear.z;
     // FIXME ripristinare il calcolo con le coordinate di posa dal tracker, ora gli assi sono fissi
-    //qt.setRPY(twPose.twist.angular.x, twPose.twist.angular.y, twPose.twist.angular.z);
-    qt.setRPY(0, M_PI/2, M_PI/2);
+    qt.setRPY(twt.twist.angular.x, twt.twist.angular.y, twt.twist.angular.z);
+    //qt.setRPY(0, M_PI/2, M_PI/2);
     newPoseStamp.pose.orientation.x = qt.x();
     newPoseStamp.pose.orientation.y = qt.y();
     newPoseStamp.pose.orientation.z = qt.z();