From 8d5b670400dec64f4f0f3ad0398ec116dce3f29c Mon Sep 17 00:00:00 2001
From: Antonio Consilvio <antonio.consilvio@iit.it>
Date: Tue, 28 Nov 2023 17:12:48 +0100
Subject: [PATCH] [iCubErzelli01] New calibration values

---
 iCubErzelli01/calibrators/left_arm-calib.xml  | 4 ++--
 iCubErzelli01/calibrators/right_arm-calib.xml | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/iCubErzelli01/calibrators/left_arm-calib.xml b/iCubErzelli01/calibrators/left_arm-calib.xml
index 385582e07e..4da73fcdcb 100644
--- a/iCubErzelli01/calibrators/left_arm-calib.xml
+++ b/iCubErzelli01/calibrators/left_arm-calib.xml
@@ -20,12 +20,12 @@
 	<param name="calibration1">           0   	 0          0          0           -1500   0      0     0     0     0     0     0     0      0      0     0     </param>
 	<param name="calibration2">	      0          0          0          0	    16384  0      0     0     0     9102  9102  9102  9102   9102   9102  3640  </param>
 	<param name="calibration3">           48111      53135      48095      4671	    0      43568  39823 0     0    -1     1    -1     1     -1      1    -1     </param>
-	<param name="calibration4">           0          0          0          0            0      0      0     2195  2190  255   450   254   510    237    479   720   </param>
+	<param name="calibration4">           0          0          0          0            0      0      0     2195  2190  255   320   254   510    237    479   720   </param>
 	<param name="calibration5">           0          0          0          0            0      0      0     2460  4170  0     0     0     0      7      16    65    </param>
 	<param name="calibrationZero">       -180       -315        180       -180          0     -180    180   0     0     0     0     0     0      0      0     0     </param>
 	<param name="calibrationDelta">       5         -8         -6         -8            0     -3      1     0     0     0     0     0     0      0      0     0     </param>
 		                                                                        
-	<param name="startupPosition">       -35         30         0          50           0      0      0     15    30    0     0     0     0      0      0     0     </param>
+	<param name="startupPosition">       -35         30         0          50           0      0      0     15    60    0     0     0     0      0      0     0     </param>
 	<param name="startupVelocity">        10         10         10         10           30     30     30    100   100   100   100   100   100    100    100   100   </param>
 	<param name="startupMaxPwm">          2000       2000       2000       2000         2000   0      0     0     0     0     0     0     0      0      0     0     </param>
 	<param name="startupPosThreshold">    2          2          2          2            90     90     90    90    90    90    90    90    90     90     90    90    </param>
diff --git a/iCubErzelli01/calibrators/right_arm-calib.xml b/iCubErzelli01/calibrators/right_arm-calib.xml
index f5cbef65c1..56bc15d094 100644
--- a/iCubErzelli01/calibrators/right_arm-calib.xml
+++ b/iCubErzelli01/calibrators/right_arm-calib.xml
@@ -21,12 +21,12 @@
 	<param name="calibration1">          0         0        0         0      1500   0      0     0     0     0     0     0     0      0      0     0    </param>
 	<param name="calibration2">	     0         0        0         0      16384  0      0     0     0     9102  9102  9102  9102   9102   9102  3640 </param>
 	<param name="calibration3">	     63839     52223    23503	  64623	 0	63768  16432 0     0    -1     1    -1     1     -1      1    -1    </param>
-	<param name="calibration4">          0         0        0         0      0      0      0     2760  640   255   490   255   500    255    480   730  </param>
-	<param name="calibration5">          0         0        0         0      0      0      0     2990  2650  15    0    0     20     0      0     100  </param>
+	<param name="calibration4">          0         0        0         0      0      0      0     2760  640   255   490   255   505    255    480   730  </param>
+	<param name="calibration5">          0         0        0         0      0      0      0     2990  2650  15    0     0     20     0      0     100  </param>
 	<param name="calibrationZero">       180       45      -180       180    0      180  -180    0     0     0     0     0     0      0      0     0    </param>
 	<param name="calibrationDelta">      6        -9       -13        2      0      7      0     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="startupPosition">      -35        30       0       50     0      0      0     25    60    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="startupPosThreshold">   2         2        2       2       90    90     90    90    90    90    90    90    90     90     90    90   </param>