[iCubGenova03] New PID for thumb oppose

Author: AntonioConsilvio

robots-icebox/iCubGenova03/hardware/motorControl/icub_right_hand.xml

@@ -60,9 +60,9 @@
 </group>       
 
 <group name="POS_PIDS">      
-<param name="kp">           -8000         -8000         8000          -8000         -8000         -8000         8000          -120          </param>       
-<param name="kd">           -32000        -32000        32000         -32000        -32000        -32000        32000         -1250         </param>       
-<param name="ki">           -5            -5            5             -5            -5            -5            5             0             </param>       
+<param name="kp">            2000         -8000         8000          -8000         -8000         -8000         8000          -120          </param>       
+<param name="kd">            32000        -32000        32000         -32000        -32000        -32000        32000         -1250         </param>       
+<param name="ki">            1            -5            5             -5            -5            -5            5             0             </param>       
 <param name="maxOutput">       1333          1333          1333          1333          1333          1333          1333          1333          </param>       
 <param name="maxInt">       1333          1333          1333          1333          1333          1333          1333          1333          </param>       
 <param name="shift">        10            10            10            10            10            10            10            4             </param>