diff --git a/tutorial/visual-servo/ibvs/ibvs_settings.json b/tutorial/visual-servo/ibvs/ibvs_settings.json
index 8e077e3de2..e2254fd6a1 100644
--- a/tutorial/visual-servo/ibvs/ibvs_settings.json
+++ b/tutorial/visual-servo/ibvs/ibvs_settings.json
@@ -4,15 +4,15 @@
     "errorThreshold": 0.0001,
     "interactionMatrix": "current",
     "cdMo": {
-        "cols": 6,
-        "rows": 1,
+        "cols": 1,
+        "rows": 6,
         "type": "vpPoseVector",
         "data": [0.0, 0.0, 0.75, 0.0, 0.0, 0.0]
     },
     "cMo": {
-        "cols": 6,
-        "rows": 1,
+        "cols": 1,
+        "rows": 6,
         "type": "vpPoseVector",
         "data": [0.3, 0.3, 1.2, 0.349066, 0.349066, 1.5708]
     }
-}
\ No newline at end of file
+}
diff --git a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-json.cpp b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-json.cpp
index 406f860664..7c91180d54 100644
--- a/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-json.cpp
+++ b/tutorial/visual-servo/ibvs/tutorial-ibvs-4pts-json.cpp
@@ -266,7 +266,7 @@ int main(int argc, char *argv[])
 
     unsigned int iter = 0;
     bool end = false;
-    std::cout << "Start visual-servoing loop until convergence..." << std::endl;
+    std::cout << "Starting visual-servoing loop until convergence..." << std::endl;
     //! [VS loop]
     while (!end) {
       robot.getPosition(wMc);