From 9843808316504de0eed8d8feb61bf2cc8d10b975 Mon Sep 17 00:00:00 2001
From: Nicola Piga <nicolapiga@gmail.com>
Date: Thu, 31 Mar 2022 16:39:19 +0200
Subject: [PATCH] iCubGenova01 - Fine calibration of torso and arms

---
 iCubGenova01/hardware/motorControl/icub_left_arm.xml  | 2 +-
 iCubGenova01/hardware/motorControl/icub_right_arm.xml | 2 +-
 iCubGenova01/hardware/motorControl/icub_torso.xml     | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/iCubGenova01/hardware/motorControl/icub_left_arm.xml b/iCubGenova01/hardware/motorControl/icub_left_arm.xml
index f3e539454d..b71a2dbfcd 100644
--- a/iCubGenova01/hardware/motorControl/icub_left_arm.xml
+++ b/iCubGenova01/hardware/motorControl/icub_left_arm.xml
@@ -32,7 +32,7 @@
 <param name="AxisName">    "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow"   "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw"  "l_hand_finger" </param>
 <param name="AxisType">    "revolute"  "revolute"    "revolute"    "revolute"   "revolute"     "revolute"     "revolute"     "revolute"    </param>
 <param name="Encoder">      -11.375    -11.375    -11.375    -11.375    706.67     -11.375    11.375     -6.244          </param>
-<param name="Zeros">        -179.00    -327.00    20.26      -187.00    -75.00     -180.00    183.00     -386.4     </param>
+<param name="Zeros">        -179.73    -327.53    18.93      -188.65    -75.00     -180.00    183.00     -386.4     </param>
 <param name="fullscalePWM">   800       800           800           800           1333          1333        1333         1333          </param>
 <param name="ampsToSensor">   1000.0    1000.0        1000.0        1000.0        1000.0        1000.0      1000.0       1000.0          </param>   
 
diff --git a/iCubGenova01/hardware/motorControl/icub_right_arm.xml b/iCubGenova01/hardware/motorControl/icub_right_arm.xml
index ded3b430d5..b928677950 100644
--- a/iCubGenova01/hardware/motorControl/icub_right_arm.xml
+++ b/iCubGenova01/hardware/motorControl/icub_right_arm.xml
@@ -30,7 +30,7 @@
 <param name="Joints">       8             </param>
 <param name="AxisMap">      0             1             2             3             4             5             6             7             </param>
 <param name="Encoder">      11.375    11.375    11.375    11.375   -706.67    11.375   -11.375 -3.333</param>
-<param name="Zeros">        180.00     36.00    226.74    173.00    -75.00    180.00   -157.00    -549.00</param>
+<param name="Zeros">        178.22     38.71    226.44    175.81    -75.00    180.00   -157.00    -549.00</param>
 <param name="fullscalePWM">   800       800           800           800           1333          1333        1333         1333          </param>
 <param name="ampsToSensor">   1000.0    1000.0        1000.0        1000.0        1000.0        1000.0      1000.0       1000.0          </param> 
 
diff --git a/iCubGenova01/hardware/motorControl/icub_torso.xml b/iCubGenova01/hardware/motorControl/icub_torso.xml
index 98144903ea..c96f1a0976 100644
--- a/iCubGenova01/hardware/motorControl/icub_torso.xml
+++ b/iCubGenova01/hardware/motorControl/icub_torso.xml
@@ -32,7 +32,7 @@
     <param name="AxisName">     "torso_yaw"   "torso_roll"  "torso_pitch" "none"        </param>
     <param name="AxisType">    "revolute"  "revolute"    "revolute"    "revolute"       </param>
     <param name="Encoder">      11.375        11.375        11.375        0             </param>       
-    <param name="Zeros">        177           180           180           0             </param>
+    <param name="Zeros">        179           180           181.84        0             </param>
     <param name="TorqueId">     0x0C          0x0C          0x0C          0             </param>       
     <param name="TorqueChan">   0             1             2             0             </param>       
     <param name="TorqueMax">    12            12            12            0             </param>