[ergoCubSN000] Refining the functioning of the fingers (#518)

robotology · May 17, 2023 · e10132a · e10132a
1 parent 17107ce
commit e10132a
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/ergoCubSN000/calibrators/left_arm-calib.xml b/ergoCubSN000/calibrators/left_arm-calib.xml
@@ -12,7 +12,7 @@
 
 	<group name="HOME">
 	<!--                                shoulder-pitch    shoulder-roll    shoulder-yaw    elbow    wrist-yaw    wrist-roll    wrist-pitch    thumb_add    thumb_oc    index_add    index_oc    middle_oc    ring_pinky_oc -->
-		<param name="positionHome">            5                 30              0           10         0            0             0             30.00        0.00        0.00         0.00        0.00           0.00    </param>
+		<param name="positionHome">            5                 30              0           10         0            0             0             0.00         0.00        0.00         0.00        0.00           0.00    </param>
 		<param name="velocityHome">            10                10              10          10         10           10            10            40.00        40.00       40.00        40.00       40.00          40.00    </param>
 	</group>
 	<group name="CALIBRATION">

diff --git a/ergoCubSN000/calibrators/right_arm-calib.xml b/ergoCubSN000/calibrators/right_arm-calib.xml
@@ -13,13 +13,13 @@
 	<group name="HOME">
 	<!-- For calib6 to set calibration5, i.e. target just multiply desidered pos in deg by 182,044444 (2^(16)/360) -->
     <!--                                shoulder-pitch    shoulder-roll    shoulder-yaw    elbow    wrist-yaw    wrist-roll    wrist-pitch    thumb_add    thumb_oc    index_add    index_oc    middle_oc    ring_pinky_oc -->
-		<param name="positionHome">            5                30              0           10         0             0              0            30.00        0.00        30.00        0.00        0.00        0.00       </param>
+		<param name="positionHome">            5                30              0           10         0             0              0            0.00        0.00        30.00        0.00        0.00        0.00       </param>
 		<param name="velocityHome">            10               10              10          10         10            10             10           40.00        40.00       40.00        40.00       40.00       40.00       </param>
 	</group>
 	<group name="CALIBRATION">
 		<param name="calibrationType">         10                10             10          10         12            12             12           12           14          12           14          14          14          </param>
 		<param name="calibration1">           -4000              3000           3000       -4000       19023         28993          36030        0            150         0            150         150         150         </param>
-		<param name="calibration2">	           0                 0              0           0          0             0              0            0            10923       0            10923       13653       12743       </param>
+		<param name="calibration2">	       0                 0              0           0          0             0              0            0            9000        0            10923       13653       9000       </param>
 		<param name="calibration3">            0                 0              0           0          0             0              0            0            1           0            1           0           0           </param>
 		<param name="calibration4">            0                 0              0           0          0             0              0            0            180         0            0           0           0           </param>
 		<param name="calibration5">            0                 0              0           0          0             0              0            0            -184.0      0            -294.0      -247.0      -65.0       </param>