From e7db5b096a9feb8661f097c0edd9fd2c6befe64a Mon Sep 17 00:00:00 2001
From: "[Gabriele Sisinna]" <gabriele.sisinna@gmail.com>
Date: Wed, 2 Mar 2022 11:13:42 +0100
Subject: [PATCH 1/3] [iCubGenova08] - Update calibration files

---
 iCubGenova08/calibrators/right_arm-calib.xml | 4 ++--
 iCubGenova08/calibrators/torso-calib.xml     | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/iCubGenova08/calibrators/right_arm-calib.xml b/iCubGenova08/calibrators/right_arm-calib.xml
index 4209aa6f9a..cee004cd91 100644
--- a/iCubGenova08/calibrators/right_arm-calib.xml
+++ b/iCubGenova08/calibrators/right_arm-calib.xml
@@ -22,13 +22,13 @@
 	<param name="calibration2">	     0         0        0         0      16384  0      0     0     0     9102  9102  9102  9102   9102   9102  10000 </param>
 	<param name="calibration3">	     0         0        0	  0	 0	0      0     0     0    -1     1    -1     1     -1      1     1    </param>
 	<param name="calibration4">          0         0        0         0      0      0      0     2770  1030  255   510   255   510    248    510   764  </param>
-	<param name="calibration5">          0         0        0         0      0      0      0     3065  3146  29    0     0     11     16     0     150  </param>
+	<param name="calibration5">          0         0        0         0      0      0      0     3065  3146  29    0     0     29     16     0     165  </param>
 	<param name="calibrationZero">       0         0        0         0      0      0      0     0     0     0     0     0     0      0      0     0    </param>
 	<param name="calibrationDelta">      -0.7     -1.47    0         -6.95   0      -4.5   -8.4  0     0     0     0     0     0      0      0     0    </param>
 
 	<param name="startupPosition">      -35        30       0         50     0      0      0     25    30    0     0     0     0      0      0     0    </param>
 	<param name="startupVelocity">       10        10       10        10     30     30     30    60    100   100   100   100   100    100    100   100  </param>
-	<param name="startupMaxPwm">         2000      2000     2000      2000   1500   0      0     0     0     0     0     0     0      0      0     0    </param>
+	<param name="startupMaxPwm">         2000      2000     2000      2000   1500   0      0     0     0     0     0     0     0      2000      0     0    </param>
 	<param name="startupPosThreshold">   2         2        2         2      90     90     90    90    90    90    90    90    90     90     90    90   </param>
 </group>
 
diff --git a/iCubGenova08/calibrators/torso-calib.xml b/iCubGenova08/calibrators/torso-calib.xml
index a085e2c030..2df888780c 100644
--- a/iCubGenova08/calibrators/torso-calib.xml
+++ b/iCubGenova08/calibrators/torso-calib.xml
@@ -23,10 +23,10 @@
 		<param name="calibration4">                       0                       0                         0       </param>
 		<param name="calibration5">                       0                       0                         0       </param>
 		<param name="calibrationZero">                    0                       0                         0       </param>
-		<param name="calibrationDelta">                   0                       0                         -2     </param>
+		<param name="calibrationDelta">                   0                      -1.2                       -2      </param>
 
 		<param name="startupPosition">                    0                       0                         0       </param>
-		<param name="startupVelocity">                    10                      10                        2      </param>
+		<param name="startupVelocity">                    10                      10                        10      </param>
 		<param name="startupMaxPwm">                      5500                    5500                      5500    </param>
 		<param name="startupPosThreshold">                2                       2                         2       </param>
 		</group>

From 51a146ee49324c8630c16246f04714de5a8664f0 Mon Sep 17 00:00:00 2001
From: "[Gabriele Sisinna]" <gabriele.sisinna@gmail.com>
Date: Thu, 3 Mar 2022 16:26:16 +0100
Subject: [PATCH 2/3] [iCubErzelli02] - Fix right thumb coupling matrix

---
 iCubErzelli02/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/iCubErzelli02/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml b/iCubErzelli02/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml
index 864b42fdf0..5a8f8514e0 100644
--- a/iCubErzelli02/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml
+++ b/iCubErzelli02/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml
@@ -31,7 +31,7 @@
                             
         <param name ="matrixJ2M"> 
             1.000   0.000   0.000   0.000
-            1.000  +1.000   0.000   0.000
+           -1.000  +1.000   0.000   0.000
             0.000   0.000   1.000   0.000
             0.000   0.000   0.000   1.000   
         </param>

From 5f90da6af0ccad89b6859e61d3e0fb92f654a2f6 Mon Sep 17 00:00:00 2001
From: Gabriele Sisinna <36999962+gsisinna@users.noreply.github.com>
Date: Thu, 3 Mar 2022 17:10:38 +0100
Subject: [PATCH 3/3] [iCubErzelli02] - fix right thumb coupling matrix

---
 iCubErzelli02/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/iCubErzelli02/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml b/iCubErzelli02/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml
index 5a8f8514e0..7b75cbac90 100644
--- a/iCubErzelli02/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml
+++ b/iCubErzelli02/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml
@@ -38,7 +38,7 @@
 
          <param name ="matrixM2J"> 
             1.000   0.000   0.000   0.000
-           -1.000  +1.000   0.000   0.000
+            1.000  +1.000   0.000   0.000
             0.000   0.000   1.000   0.000
             0.000   0.000   0.000   1.000   
         </param>