From b49783643495faeeb37f693099a58d85a52eb9a9 Mon Sep 17 00:00:00 2001
From: Antonio <antonio.consilvio@iit.it>
Date: Wed, 5 Mar 2025 14:14:33 +0100
Subject: [PATCH] [iCubGenova07] change calibration values after maintenance

---
 iCubGenova07/calibrators/right_arm-calib.xml  | 19 +++++++++----------
 iCubGenova07/general.xml                      |  2 +-
 .../mechanicals/right_arm-eb28-j8_11-mec.xml  |  6 +++---
 3 files changed, 13 insertions(+), 14 deletions(-)

diff --git a/iCubGenova07/calibrators/right_arm-calib.xml b/iCubGenova07/calibrators/right_arm-calib.xml
index b0d853384a..dca4a66ab6 100644
--- a/iCubGenova07/calibrators/right_arm-calib.xml
+++ b/iCubGenova07/calibrators/right_arm-calib.xml
@@ -9,24 +9,24 @@
 		    <param name="joints">16</param> <!-- the number of joints of the robot part -->
 		    <param name="deviceName"> Right_Arm_Calibrator </param>
 		</group>
-<!-- joint logical number                    0         1        2         3      4      5      6     7     8     9    10    11    12     13     14    15 -->
+<!-- joint logical number                 0        1        2         3      4      5      6     7     8     9    10    11    12     13     14    15 -->
 <group name="HOME">
-	<param name="positionHome">        -30       30        0        45      0      0     0     35    65     0     0     0     0      0      0     0     </param>
-	<param name="velocityHome">        10        10        10       10     30     30     30    60    30    30    30    30    30     30     30    30     </param>
+	<param name="positionHome">         -30       30        0        45      0      0      0    35    65     0     0     0     0      0      0     0     </param>
+	<param name="velocityHome">          10       10        10       10     30     30     30    60    30    30    30    30    30     30     30    30     </param>
 </group>
 
 
 <group name="CALIBRATION">
 	<param name="calibrationType">       12        12       12        12     5      12     12    7     7     6     6     6     6      6      6     6    </param>
 	<param name="calibration1">          10639     14927    34735     62415  1500   15919  42111 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">	     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     2530  2560  248   510   255   500    234    505   752  </param>
-	<param name="calibration5">          0         0        0         0      0      0      0     2960  3770  44    19    0     20     15     10    175  </param>
+	<param name="calibration2">	         0         0        0         0      16384  0      0     0     0     9102  9102  9102  9102   9102   9102  3640 </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     2450  3300  255   510   255   500    234    505   752  </param>
+	<param name="calibration5">          0         0        0         0      0      0      0     2850  4380  35    5     0     30     15     5     175  </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        -7.6     -8.3      0      0     -6      8     0     0     0     0     0     0      0      0     0    </param>
+	<param name="calibrationDelta">      0        -7.6     -8.3       0      0     -6      8     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    50    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>
@@ -46,4 +46,3 @@
 		<action phase="interrupt3" level="1" type="abort" />
 
 	</device>
-
diff --git a/iCubGenova07/general.xml b/iCubGenova07/general.xml
index c3463b2d78..3752d9c653 100644
--- a/iCubGenova07/general.xml
+++ b/iCubGenova07/general.xml
@@ -5,7 +5,7 @@
   
   <group name="GENERAL">
       <param name="skipCalibration">    false  </param>
-      <param name="useRawEncoderData">  false </param>
+      <param name="useRawEncoderData">  false  </param>
       <param name="useLimitedPWM">      false  </param>
       <param name="verbose">            false  </param>
   </group>
diff --git a/iCubGenova07/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml b/iCubGenova07/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml
index 47aae5a9fe..b1b11551a0 100644
--- a/iCubGenova07/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml
+++ b/iCubGenova07/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml
@@ -29,16 +29,16 @@
 
     <group name="COUPLINGS"> 
                             
-        <param name ="matrixJ2M"> 
+         <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>
 
          <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>