From e3c6b6c0a42c6e4aa7ef3bd076728f7b6452fcdf Mon Sep 17 00:00:00 2001
From: Ugo Pattacini <ugo.pattacini@iit.it>
Date: Sat, 22 Apr 2023 17:03:13 +0200
Subject: [PATCH] fixed files

---
 .../cer_alljoints_ros2_wrapper.xml            | 12 ++++++++++
 R1SN003/yarprobotinterface.ini                |  2 +-
 ergoCubSN000/calibrators/left_leg-calib.xml   |  5 +----
 iCubDijon01/calibrators/head_calib.xml        | 17 ++++++++------
 iCubDijon01/calibrators/left_arm_calib.xml    | 17 ++++++++------
 iCubDijon01/calibrators/left_hand_calib.xml   | 17 ++++++++------
 iCubDijon01/calibrators/left_leg_calib.xml    | 17 ++++++++------
 iCubDijon01/calibrators/right_arm_calib.xml   | 17 ++++++++------
 iCubDijon01/calibrators/right_hand_calib.xml  | 17 ++++++++------
 iCubDijon01/calibrators/right_leg_calib.xml   | 17 ++++++++------
 iCubDijon01/calibrators/torso_calib.xml       | 17 ++++++++------
 iCubGenova01/calibrators/head_calib.xml       |  4 ++++
 iCubGenova01/calibrators/left_arm_calib.xml   |  4 ++++
 iCubGenova01/calibrators/left_hand_calib.xml  | 20 ++++++++++-------
 iCubGenova01/calibrators/left_leg_calib.xml   |  4 ++++
 iCubGenova01/calibrators/right_arm_calib.xml  |  4 ++++
 iCubGenova01/calibrators/right_hand_calib.xml | 20 ++++++++++-------
 iCubGenova01/calibrators/right_leg_calib.xml  |  4 ++++
 iCubGenova01/calibrators/torso_calib.xml      | 14 +++++++-----
 iCubGenova03/calibrators/head_calib.xml       |  4 ++++
 iCubGenova03/calibrators/left_arm_calib.xml   |  4 ++++
 iCubGenova03/calibrators/left_hand_calib.xml  | 20 ++++++++++-------
 iCubGenova03/calibrators/left_leg_calib.xml   |  4 ++++
 iCubGenova03/calibrators/right_arm_calib.xml  |  4 ++++
 iCubGenova03/calibrators/right_hand_calib.xml | 20 ++++++++++-------
 iCubGenova03/calibrators/right_leg_calib.xml  |  4 ++++
 iCubGenova03/calibrators/torso_calib.xml      | 17 ++++++++------
 iCubTokyo01/calibrators/head_calib.xml        | 15 ++++++++-----
 iCubTokyo01/calibrators/left_arm_calib.xml    | 19 +++++++++-------
 iCubTokyo01/calibrators/left_hand_calib.xml   | 20 +++++++++--------
 iCubTokyo01/calibrators/left_leg_calib.xml    | 17 ++++++++------
 iCubTokyo01/calibrators/right_arm_calib.xml   | 17 ++++++++------
 iCubTokyo01/calibrators/right_hand_calib.xml  | 22 ++++++++++---------
 iCubTokyo01/calibrators/right_leg_calib.xml   | 19 +++++++++-------
 iCubTokyo01/calibrators/torso_calib.xml       | 19 +++++++++-------
 .../check-xml/schemas/calibrators1.xsd        |  9 --------
 tests/dry-run/check-xml/src/check-xml.cpp     |  2 +-
 vizzy/calibrators/head_calib.xml              | 12 ++++++----
 vizzy/calibrators/left_arm_calib.xml          | 12 ++++++----
 vizzy/calibrators/right_arm_calib.xml         | 12 ++++++----
 vizzy/calibrators/shoulders_calib.xml         | 12 ++++++----
 41 files changed, 319 insertions(+), 194 deletions(-)
 create mode 100644 R1SN002/wrappers/motorControl/cer_alljoints_ros2_wrapper.xml
 delete mode 100644 tests/dry-run/check-xml/schemas/calibrators1.xsd

diff --git a/R1SN002/wrappers/motorControl/cer_alljoints_ros2_wrapper.xml b/R1SN002/wrappers/motorControl/cer_alljoints_ros2_wrapper.xml
new file mode 100644
index 0000000000..c2e814dfce
--- /dev/null
+++ b/R1SN002/wrappers/motorControl/cer_alljoints_ros2_wrapper.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cbw_ros2" type="controlBoard_nws_ros2">
+    <param name="node_name"> ros2_cb_node </param>
+    <param extern-name="cbw_ros2_msgs_name" name="msgs_name"> ros2_cb_msgs </param>
+    <param name="topic_name"> /joint_states </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> cer_all_joints_mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
diff --git a/R1SN003/yarprobotinterface.ini b/R1SN003/yarprobotinterface.ini
index d756b72a2c..5857263426 100644
--- a/R1SN003/yarprobotinterface.ini
+++ b/R1SN003/yarprobotinterface.ini
@@ -1,3 +1,3 @@
-config ./CER.xml 
+config ./CER.xml
 enable_tags (enable_ros2)
 disable_tags ()
diff --git a/ergoCubSN000/calibrators/left_leg-calib.xml b/ergoCubSN000/calibrators/left_leg-calib.xml
index 2502f7d612..b9e194c212 100644
--- a/ergoCubSN000/calibrators/left_leg-calib.xml
+++ b/ergoCubSN000/calibrators/left_leg-calib.xml
@@ -7,14 +7,12 @@
     <param name="joints">  6  </param> <!-- the number of joints of the robot part -->
     <param name="deviceName"> Left_Leg_Calibrator </param>
   </group>
- 						      pitch  	     roll	yaw	     knee	 ankle-pith	ankle-roll	      
+    
   <group name="HOME">
     <param name="positionHome">                       0.00           5.00       0.00          0.00        0.00      0.00    </param>
     <param name="velocityHome">                       10.00          10.00      10.00        10.00       10.00     10.00    </param>
   </group>
 
-
-
    <group name="CALIBRATION">
     <param name="calibrationType">                    10             10           10            10         10      10       </param>
     <param name="calibration1">                      -5500           4000        -2500         -5000       2500    -3000    </param>
@@ -24,7 +22,6 @@
     <param name="calibration5">                       0.0            0.0          0             0          0       0        </param>
     <param name="calibrationZero">                    110.15         111.776      81.65         7.75       -46.624 25.313     </param>
     <param name="calibrationDelta">                   0              0            0             0          0       0        </param>
-    
     <param name="startupPosition">                    90             80           0             -95        0       0        </param>
     <param name="startupVelocity">                    10.0           10.0         10.0          10         10      10       </param>
     <param name="startupMaxPwm">                      8000           8000         8000          8000       8000    8000      </param>
diff --git a/iCubDijon01/calibrators/head_calib.xml b/iCubDijon01/calibrators/head_calib.xml
index e51aedca8b..5224daadbd 100644
--- a/iCubDijon01/calibrators/head_calib.xml
+++ b/iCubDijon01/calibrators/head_calib.xml
@@ -8,23 +8,26 @@
             <param name="deviceName"> Head_Calibrator </param>         
         </group>             
  
+<group name="HOME">          
+<param name="positionHome"> -30           0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group>       
+
 <group name="CALIBRATION">   
- 
 <param name="calibrationType">            3             3             3             3             0             0             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        2047.5        900           900           </param>       
 <param name="calibration2">               10            10            10            10            20            20            </param>       
 <param name="calibration3">               3339.5        1683.5        2238.5        1288.5        0             0             </param>       
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
 <param name="startupPosition">               0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            10            10            10            </param>       
 <param name="startupMaxPwm">                     140           140           600           0             0             0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> -30           0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>       
- 
+  
         <param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param>          
                
         <action phase="startup" level="10" type="calibrate">           
diff --git a/iCubDijon01/calibrators/left_arm_calib.xml b/iCubDijon01/calibrators/left_arm_calib.xml
index 943e59329e..f6f53ddea5 100644
--- a/iCubDijon01/calibrators/left_arm_calib.xml
+++ b/iCubDijon01/calibrators/left_arm_calib.xml
@@ -8,23 +8,26 @@
             <param name="deviceName"> Left_Arm_Calibrator </param>     
         </group>             
  
+<group name="HOME">          
+<param name="positionHome"> 			-30           30            0             45            0             0             40            15            </param>       
+<param name="velocityHome"> 			10            10            10            10            30            30            30            100           </param>       
+</group> 
+
 <group name="CALIBRATION">   
- 
 <param name="calibrationType">             3             3             3             3               0             2             2             3            </param>       
 <param name="calibration1">               2388.75       3241.87      -275.93      1535.62          800           750           750           1797           </param>       
 <param name="calibration2">               10            10            10            10              20            -10           -10           100           </param>       
 <param name="calibration3">               1568.5	  3249.875	 3653.75       3591.5           0             0             0             0             </param>       
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
 <param name="startupPosition">             -30             30            0           45             0             0             0             15            </param>       
 <param name="startupVelocity">               10            10            10          10             30            30            30            100           </param>       
 <param name="startupMaxPwm">                120           120           120         120             0             0             0             0             </param>       
 <param name="startupPosThreshold">           2             2             2            2             2             2             90            90            </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> 			-30           30            0             45            0             0             40            15            </param>       
-<param name="velocityHome"> 			10            10            10            10            30            30            30            100           </param>       
-</group>       
- 
+  
         <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5) </param>        
  
         <action phase="startup" level="10" type="calibrate">           
diff --git a/iCubDijon01/calibrators/left_hand_calib.xml b/iCubDijon01/calibrators/left_hand_calib.xml
index 51f103b805..3f1225c3a1 100644
--- a/iCubDijon01/calibrators/left_hand_calib.xml
+++ b/iCubDijon01/calibrators/left_hand_calib.xml
@@ -8,23 +8,26 @@
             <param name="deviceName"> Left_Hand_Calibrator </param>    
         </group>             
  
+<group name="HOME">          
+<param name="positionHome">                 90            3             0             0             0             0             0             0             </param>       
+<param name="velocityHome">                 10            10            10            10            10            10            10            10            </param>       
+</group>       
+
 <group name="CALIBRATION">   
- 
 <param name="calibrationType">            3             4             4             4             4             4             4             4             </param>       
 <param name="calibration1">               486.56        220           10            218           19            212           5             636           </param>       
 <param name="calibration2">               10            10            30            10            10            10            10            10            </param>       
 <param name="calibration3">               0             6000          6600          6000          7400          6000          -7400         14000         </param>      
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
 <param name="startupPosition">            30            3             0             0             0             0             0             0             </param>       
 <param name="startupVelocity">            100           100           100           100           100           100           100           100           </param>       
 <param name="startupMaxPwm">               0             0             0             0             0             0             0             0             </param>       
 <param name="startupPosThreshold">         90            90            90            90            90            90            90            90            </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome">                 90            3             0             0             0             0             0             0             </param>       
-<param name="velocityHome">                 10            10            10            10            10            10            10            10            </param>       
-</group>       
- 
+  
         <param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>         
                
         <action phase="startup" level="10" type="calibrate">           
diff --git a/iCubDijon01/calibrators/left_leg_calib.xml b/iCubDijon01/calibrators/left_leg_calib.xml
index 4c562c0472..3a3c218362 100644
--- a/iCubDijon01/calibrators/left_leg_calib.xml
+++ b/iCubDijon01/calibrators/left_leg_calib.xml
@@ -7,23 +7,26 @@
             <param name="deviceName"> Left_Leg_Calibrator </param>     
         </group>             
  
+<group name="HOME">          
+<param name="positionHome"> 0             15             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group>       
+
 <group name="CALIBRATION">   
- 
 <param name="calibrationType">            3             3             3             3             3             3             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        2047.5        2047.5        2047.5        </param>       
 <param name="calibration2">               10            10            10            10            10            10            </param>       
 <param name="calibration3">               2704.5        3319.5        541.5         2592.5        610.5         1683.5        </param>       
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
 <param name="startupPosition">               0             1.7             0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            10            10            10            </param>       
 <param name="startupMaxPwm">                     120           120           120           120           120           120           </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> 0             15             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>       
- 
+  
         <param name="CALIB_ORDER">(0 1 2 3 4 5) </param>               
                
         <action phase="startup" level="10" type="calibrate">           
diff --git a/iCubDijon01/calibrators/right_arm_calib.xml b/iCubDijon01/calibrators/right_arm_calib.xml
index 73ceebc09f..d07e52dc64 100644
--- a/iCubDijon01/calibrators/right_arm_calib.xml
+++ b/iCubDijon01/calibrators/right_arm_calib.xml
@@ -8,23 +8,26 @@
             <param name="deviceName"> Right_Arm_Calibrator </param>    
         </group>             
  
+<group name="HOME">          
+<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
+<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
+</group>
+
 <group name="CALIBRATION">   
- 
 <param name="calibrationType">            3             3             3             3             0             2             2             3             </param>       
 <param name="calibration1">               1706.25	853.13	     2795.32	    2559.38        800.00        750.00        750.00        1867.00       </param>       
 <param name="calibration2">               10.00	10.00	      10.00	     10.00        -20.00        10.00          10.00          100.00        </param>       
 <param name="calibration3">               2278.50	1072.13       229.13        925.50         0.00          0.00          0.00          0.00          </param>       
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
 <param name="startupPosition">               -30          30            0             45            0           0             0            15            </param>       
 <param name="startupVelocity">               10           10            10            10            30          10            10           100           </param>       
 <param name="startupMaxPwm">                120           120           120           120           0           0             0             0             </param>       
 <param name="startupPosThreshold">           2             2             2             2            2           2             90           90            </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> -30           30            0             45            0             0             40            15            </param>       
-<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
-</group>       
- 
+  
        <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>         
                
         <action phase="startup" level="10" type="calibrate">           
diff --git a/iCubDijon01/calibrators/right_hand_calib.xml b/iCubDijon01/calibrators/right_hand_calib.xml
index d9ca6b02a7..f0794f380d 100644
--- a/iCubDijon01/calibrators/right_hand_calib.xml
+++ b/iCubDijon01/calibrators/right_hand_calib.xml
@@ -8,23 +8,26 @@
             <param name="deviceName"> Right_Hand_Calibrator </param>   
         </group>             
  
+<group name="HOME">          
+<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
+</group>       
+
 <group name="CALIBRATION">   
- 
 <param name="calibrationType">            3             4             4             4             4             4             4             4             </param>       
 <param name="calibration1">               730.00        215.00        4.00         210.00        5.00         232.00        88.00         686.00        </param>       
 <param name="calibration2">               10.00         10.00         30.00         10.00         10.00         10.00         10.00         10.00         </param>       
 <param name="calibration3">               0.00          6000.00       8000.00       6000.00      -7400.00      6000.00       7400.00       18000.00      </param>       
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
 <param name="startupPosition">               30            3             0             0             0             0             0             0          </param>       
 <param name="startupVelocity">               100           100           100           100           100           100           100           100        </param>       
 <param name="startupMaxPwm">                 0             0             0             0             0             0             0             0      </param>       
 <param name="startupPosThreshold">           90            90            90            90            90            90            90            90         </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
-</group>       
- 
+  
         <param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>         
                
         <action phase="startup" level="10" type="calibrate">           
diff --git a/iCubDijon01/calibrators/right_leg_calib.xml b/iCubDijon01/calibrators/right_leg_calib.xml
index efd2e2e2c4..31df44dc0c 100644
--- a/iCubDijon01/calibrators/right_leg_calib.xml
+++ b/iCubDijon01/calibrators/right_leg_calib.xml
@@ -7,23 +7,26 @@
             <param name="deviceName"> Right_Leg_Calibrator </param>    
         </group>             
  
+<group name="HOME">          
+<param name="positionHome"> 0             15             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group>       
+
 <group name="CALIBRATION">   
- 
 <param name="calibrationType">            3             3             3             3             3             3             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        2047.5        2047.5        2047.5        </param>       
 <param name="calibration2">               10            10            10            10            10            10            </param>       
 <param name="calibration3">               3429.5        3209.5        3562.5        2573.5        508.5         668.5         </param>       
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
 <param name="startupPosition">               0             1.7             0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            10            10            10            </param>       
 <param name="startupMaxPwm">                     120           120           120           120           120           120           </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> 0             15             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>       
- 
+  
         <param name="CALIB_ORDER">(0 1 2 3 4 5) </param>               
                
         <action phase="startup" level="10" type="calibrate">           
diff --git a/iCubDijon01/calibrators/torso_calib.xml b/iCubDijon01/calibrators/torso_calib.xml
index 5ab1e0fbd8..4b8282dc55 100644
--- a/iCubDijon01/calibrators/torso_calib.xml
+++ b/iCubDijon01/calibrators/torso_calib.xml
@@ -8,21 +8,24 @@
             <param name="deviceName"> Torso_Calibrator </param>        
         </group>             
  
-<group name="CALIBRATION">   
- 
+<group name="HOME">          
+<param name="positionHome"> 0             0             -20           0             </param>       
+<param name="velocityHome"> 10            10            10            0             </param>       
+</group>       
+
+<group name="CALIBRATION">    
 <param name="calibrationType">            3             3             3             0             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        0             </param>       
 <param name="calibration2">               10            10            10            0             </param>       
 <param name="calibration3">               927.5         2720.5        3624.5        0             </param>       
+<param name="calibration4">                       0.00       0.00    0.00    0.00                 </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00                 </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00                 </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00                 </param>
 <param name="startupPosition">               0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            0             </param>       
 <param name="startupMaxPwm">                     120           120           120           0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             </param>       
-</group>       
- 
-<group name="HOME">          
-<param name="positionHome"> 0             0             -20           0             </param>       
-<param name="velocityHome"> 10            10            10            0             </param>       
 </group>       
  
        <param name="CALIB_ORDER"> (0 1 2) </param>       
diff --git a/iCubGenova01/calibrators/head_calib.xml b/iCubGenova01/calibrators/head_calib.xml
index b1a3cdf41e..1ecccaf8e5 100644
--- a/iCubGenova01/calibrators/head_calib.xml
+++ b/iCubGenova01/calibrators/head_calib.xml
@@ -23,6 +23,10 @@
 <param name="calibration1">                       2047.5     2047.5  2047.5  2047.5     900.0     900.0        </param>
 <param name="calibration2">                       10.0       10.0    10.0    10.0       20.0      20.0         </param>
 <param name="calibration3">                       1413.5     1475.5  2807.5  3217.5     0.0       0.0          </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
 <param name="startupPosition">                       0.0        0.0     0.0     0.0        0.0       0.0          </param>
 <param name="startupVelocity">                       10.0       10.0    10.0    10.0       10.0      10.0         </param>
 <param name="startupMaxPwm">                             130        130     0       0          0         0            </param>
diff --git a/iCubGenova01/calibrators/left_arm_calib.xml b/iCubGenova01/calibrators/left_arm_calib.xml
index 3068b8f879..34ee557b28 100644
--- a/iCubGenova01/calibrators/left_arm_calib.xml
+++ b/iCubGenova01/calibrators/left_arm_calib.xml
@@ -22,6 +22,10 @@
 <param name="calibration1">                       2388.8     3241.9     -275.9     1535.6     500.0      2047.5     2047.5     2412.6     </param>
 <param name="calibration2">                       10.0       10.0       10.0       10.0       20.0       10.0       10.0       100.0      </param>
 <param name="calibration3">                       1337.5     1465.9     3508.4     980.5      0.0        1932.5     3887.5     0.0        </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
 <param name="startupPosition">                       -30.0      30.0       0.0        45.0       0.0        0.0        0.0        30.0       </param>
 <param name="startupVelocity">                       10.0       10.0       10.0       10.0       30.0       30.0       30.0       100.0      </param>
 <param name="startupMaxPwm">                             120        120        120        120        0          0          0          0          </param>
diff --git a/iCubGenova01/calibrators/left_hand_calib.xml b/iCubGenova01/calibrators/left_hand_calib.xml
index 1009b97275..989851ff00 100644
--- a/iCubGenova01/calibrators/left_hand_calib.xml
+++ b/iCubGenova01/calibrators/left_hand_calib.xml
@@ -20,14 +20,18 @@
 
 <!--USE THIS FOR CAN ROBOT CALIBRATION-->
 <group name="CALIBRATION">
-<param name="calibrationType">                                                                                            3        4        4        4        4        4        4        4        </param>
-<param name="calibration1">                                                                                               1960.4   255.0    5.0     247.0    38.0     255.0    0.0     650.0    </param>
-<param name="calibration2">                                                                                               10.0     10.0     30.0     10.0     10.0     10.0     10.0     10.0     </param>
-<param name="calibration3">                                                                                               0.0      6000.0   -6600.0  6000.0   7000.0   6000.0   -7000.0  -14000.0 </param>
-<param name="startupPosition">                                                                                               45.0     0.0      0.0      0.0      0.0      0.0      0.0      0.0      </param>
-<param name="startupVelocity">                                                                                               100.0    100.0    100.0    100.0    100.0    100.0    100.0    100.0    </param>
-<param name="startupMaxPwm">                                                                                                     0        0        0        0        0        0        0        0        </param>
-<param name="startupPosThreshold">                                                                                           1000     1000     1000     1000     1000     1000     1000     1000     </param>
+<param name="calibrationType">                    3        4        4        4        4        4        4        4        </param>
+<param name="calibration1">                         1960.4   255.0    5.0     247.0    38.0     255.0    0.0     650.0    </param>
+<param name="calibration2">                       10.0     10.0     30.0     10.0     10.0     10.0     10.0     10.0     </param>
+<param name="calibration3">                       0.0      6000.0   -6600.0  6000.0   7000.0   6000.0   -7000.0  -14000.0 </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="startupPosition">                    45.0     0.0      0.0      0.0      0.0      0.0      0.0      0.0      </param>
+<param name="startupVelocity">                    100.0    100.0    100.0    100.0    100.0    100.0    100.0    100.0    </param>
+<param name="startupMaxPwm">                      0        0        0        0        0        0        0        0        </param>
+<param name="startupPosThreshold">                1000     1000     1000     1000     1000     1000     1000     1000     </param>
 </group>
 
 
diff --git a/iCubGenova01/calibrators/left_leg_calib.xml b/iCubGenova01/calibrators/left_leg_calib.xml
index 7bbd934759..72ce8fd643 100644
--- a/iCubGenova01/calibrators/left_leg_calib.xml
+++ b/iCubGenova01/calibrators/left_leg_calib.xml
@@ -15,6 +15,10 @@
             <param name="calibration1">               2047.5        2047.5        2047.5        2047.5        2047.5        2047.5        </param>       
             <param name="calibration2">               10            10            10            10            10            10             </param>       
             <param name="calibration3">               2555.9625     2982.525      1833.65      1567.475     3475.0625     2558.2375     </param>       
+            <param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+            <param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+            <param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+            <param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
             <param name="startupPosition">               0             8             0             0             0             -8            </param>       
             <param name="startupVelocity">               10            10            10            10            10            10            </param>       
             <param name="startupMaxPwm">                     120           120           120           120           120           120           </param>       
diff --git a/iCubGenova01/calibrators/right_arm_calib.xml b/iCubGenova01/calibrators/right_arm_calib.xml
index d8d3fb9028..72e16b6ef3 100644
--- a/iCubGenova01/calibrators/right_arm_calib.xml
+++ b/iCubGenova01/calibrators/right_arm_calib.xml
@@ -21,6 +21,10 @@
 <param name="calibration1">                       1706.3    853.1     2795.3    2559.4    500.0     2047.5    2047.5    1830.0    </param>
 <param name="calibration2">                       10.0      10.0      10.0      10.0      -20.0     10.0      10.0      100.0     </param>
 <param name="calibration3">                       2122.5    1178.13   1901.25   3151.50    0.0       4032.5    4057.5    0.0       </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
 <param name="startupPosition">                     -30.0     30.0      0.0       45.0      0.0        0.0       0.0       15.0      </param>
 <param name="startupVelocity">                       10.0      10.0      10.0      10.0      30.0      30.0      30.0      100.0     </param>
 <param name="startupMaxPwm">                          120       120       120       120       0         0         0         0         </param>
diff --git a/iCubGenova01/calibrators/right_hand_calib.xml b/iCubGenova01/calibrators/right_hand_calib.xml
index d9b9e2069d..4449a141d5 100644
--- a/iCubGenova01/calibrators/right_hand_calib.xml
+++ b/iCubGenova01/calibrators/right_hand_calib.xml
@@ -21,14 +21,18 @@
 
 <!--USE THIS FOR CAN ROBOT CALIBRATION-->
 <group name="CALIBRATION">
-<param name="calibrationType">                                                                                            3        4        4        4        4        4        4        4        </param>
-<param name="calibration1">                                                                                               1742.4  255.0    5.0      196.0    13.0     207.0    22.0     580.0    </param>
-<param name="calibration2">                                                                                               10.0     10.0     30.0     10.0     10.0     10.0     10.0     10.0     </param>
-<param name="calibration3">                                                                                               0.0      6000.0   6600.0   6000.0   -7000.0  6000.0   7000.0   14000.0  </param>
-<param name="startupPosition">                                                                                               45.0     0.0      0.0      0.0      0.0      0.0      0.0      0.0      </param>
-<param name="startupVelocity">                                                                                               100.0    100.0    100.0    100.0    100.0    100.0    100.0    100.0    </param>
-<param name="startupMaxPwm">                                                                                                     0        0        0        0        0        0        0        0        </param>
-<param name="startupPosThreshold">                                                                                           1000     1000     1000     1000     1000     1000     1000     1000     </param>
+<param name="calibrationType">                    3        4        4        4        4        4        4        4        </param>
+<param name="calibration1">                        1742.4  255.0    5.0      196.0    13.0     207.0    22.0     580.0    </param>
+<param name="calibration2">                       10.0     10.0     30.0     10.0     10.0     10.0     10.0     10.0     </param>
+<param name="calibration3">                       0.0      6000.0   6600.0   6000.0   -7000.0  6000.0   7000.0   14000.0  </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="startupPosition">                    45.0     0.0      0.0      0.0      0.0      0.0      0.0      0.0      </param>
+<param name="startupVelocity">                    100.0    100.0    100.0    100.0    100.0    100.0    100.0    100.0    </param>
+<param name="startupMaxPwm">                      0        0        0        0        0        0        0        0        </param>
+<param name="startupPosThreshold">                1000     1000     1000     1000     1000     1000     1000     1000     </param>
 </group>
 
 
diff --git a/iCubGenova01/calibrators/right_leg_calib.xml b/iCubGenova01/calibrators/right_leg_calib.xml
index 0237e68a6f..27f85ea03b 100644
--- a/iCubGenova01/calibrators/right_leg_calib.xml
+++ b/iCubGenova01/calibrators/right_leg_calib.xml
@@ -15,6 +15,10 @@
             <param name="calibration1">               2047.5        2047.5        2047.5        2047.5        2047.5        2047.5        </param>       
             <param name="calibration2">               10            10            10            10            10            10             </param>       
             <param name="calibration3">               2650.375      3094          3357.9        3197.51      1670.9875     908.8625      </param>       
+            <param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+            <param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+            <param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+            <param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
             <param name="startupPosition">               0             8             0             0             0             -8            </param>       
             <param name="startupVelocity">               10            10            10            10            10            10            </param>       
             <param name="startupMaxPwm">                     120           120           120           120           120           120           </param>       
diff --git a/iCubGenova01/calibrators/torso_calib.xml b/iCubGenova01/calibrators/torso_calib.xml
index 99f22df67b..e600f05cfe 100644
--- a/iCubGenova01/calibrators/torso_calib.xml
+++ b/iCubGenova01/calibrators/torso_calib.xml
@@ -10,22 +10,26 @@
             <param name="deviceName"> Torso_Calibrator </param>
         </group>
 
+        <group name="HOME">          
+            <param name="positionHome">           0             0             -20           0             </param>       
+            <param name="velocityHome">          10            10             10            0             </param>       
+        </group>       
+
         <group name="CALIBRATION">   
             <param name="calibrationType">            3             3             3             3             </param>       
             <param name="calibration1">               2047.5        2047.5        2047.5        0             </param>       
             <param name="calibration2">               10            10            10            0             </param>       
             <param name="calibration3">               508.4625      2646.963      3420.463      0             </param>       
+            <param name="calibration4">                       0.00       0.00    0.00    0.00                 </param>
+            <param name="calibration5">                       0.00       0.00    0.00    0.00                 </param>
+            <param name="calibrationZero">                    0.00       0.00    0.00    0.00                 </param>
+            <param name="calibrationDelta">                   0.00       0.00    0.00    0.00                 </param>
             <param name="startupPosition">               0             0             0             0             </param>       
             <param name="startupVelocity">               10            10            10            0             </param>           
             <param name="startupMaxPwm">                     120           120           120           0             </param>       
             <param name="startupPosThreshold">           2             2             2             2             </param>       
         </group>       
          
-        <group name="HOME">          
-            <param name="positionHome">           0             0             -20           0             </param>       
-            <param name="velocityHome">          10            10             10            0             </param>       
-        </group>       
-
         <param name="CALIB_ORDER"> (0 1 2) </param>
         
         <action phase="startup" level="15" type="calibrate">
diff --git a/iCubGenova03/calibrators/head_calib.xml b/iCubGenova03/calibrators/head_calib.xml
index 76d54692d1..9dd16e89ca 100644
--- a/iCubGenova03/calibrators/head_calib.xml
+++ b/iCubGenova03/calibrators/head_calib.xml
@@ -22,6 +22,10 @@
 <param name="calibration1">                       2047.5     2047.5  2047.5  2047.5     900.0     900.0        </param>
 <param name="calibration2">                       10.0       10.0    10.0    10.0       20.0      20.0         </param>
 <param name="calibration3">                       223.5       3423.5  71.5    1606.5     0.0       0.0          </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
 <param name="startupPosition">                       0.0        0.0     0.0     0.0        0.0       0.0          </param>
 <param name="startupVelocity">                       10.0       10.0    10.0    10.0       10.0      10.0         </param>
 <param name="startupMaxPwm">                             130        130     0       0          0         0            </param>
diff --git a/iCubGenova03/calibrators/left_arm_calib.xml b/iCubGenova03/calibrators/left_arm_calib.xml
index 74af060b70..a059d16134 100644
--- a/iCubGenova03/calibrators/left_arm_calib.xml
+++ b/iCubGenova03/calibrators/left_arm_calib.xml
@@ -23,6 +23,10 @@
 <param name="calibration1">                       2388.8     3241.9     -275.9     1535.6     500.0      2047.5     2047.5     2074.0     </param>
 <param name="calibration2">                       10.0       10.0       10.0       10.0       20.0       10.0       10.0       100.0      </param>
 <param name="calibration3">                       2734.5     762.9      1522.6     1352.5     0.0        3532.5     1662.5     0.0        </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
 <param name="startupPosition">                       -30.0      30.0       0.0        45.0       0.0        0.0        0.0        15.0       </param>
 <param name="startupVelocity">                       10.0       10.0       10.0       10.0       30.0       30.0       30.0       100.0      </param>
 <param name="startupMaxPwm">                             120        120        120        120        0          0          0          0          </param>
diff --git a/iCubGenova03/calibrators/left_hand_calib.xml b/iCubGenova03/calibrators/left_hand_calib.xml
index 6749265234..e0404f231d 100644
--- a/iCubGenova03/calibrators/left_hand_calib.xml
+++ b/iCubGenova03/calibrators/left_hand_calib.xml
@@ -19,14 +19,18 @@
 
 <!--USE THIS FOR CAN ROBOT CALIBRATION-->
 <group name="CALIBRATION">
-<param name="calibrationType">                                                                                            3        4        4        4        4        4        4        4        </param>
-<param name="calibration1">                                                                                               1849.8    255.0    57.0    255.0    111.0    243.0    51.0     748.0    </param>
-<param name="calibration2">                                                                                               10.0     10.0     30.0     10.0     10.0     10.0     10.0     10.0     </param>
-<param name="calibration3">                                                                                               0.0      6000.0   -6600.0  6000.0   7000.0   6000.0   -7000.0  -14000.0 </param>
-<param name="startupPosition">                                                                                               45.0     0.0      0.0      0.0      0.0      0.0      0.0      0.0      </param>
-<param name="startupVelocity">                                                                                               100.0    100.0    100.0    100.0    100.0    100.0    100.0    100.0    </param>
-<param name="startupMaxPwm">                                                                                                     0        0        0        0        0        0        0        0        </param>
-<param name="startupPosThreshold">                                                                                           1000     1000     1000     1000     1000     1000     1000     1000     </param>
+<param name="calibrationType">                    3        4        4        4        4        4        4        4        </param>
+<param name="calibration1">                       1849.8    255.0    57.0    255.0    111.0    243.0    51.0     748.0    </param>
+<param name="calibration2">                       10.0     10.0     30.0     10.0     10.0     10.0     10.0     10.0     </param>
+<param name="calibration3">                       0.0      6000.0   -6600.0  6000.0   7000.0   6000.0   -7000.0  -14000.0 </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="startupPosition">                    45.0     0.0      0.0      0.0      0.0      0.0      0.0      0.0      </param>
+<param name="startupVelocity">                    100.0    100.0    100.0    100.0    100.0    100.0    100.0    100.0    </param>
+<param name="startupMaxPwm">                      0        0        0        0        0        0        0        0        </param>
+<param name="startupPosThreshold">                1000     1000     1000     1000     1000     1000     1000     1000     </param>
 </group>
 
  
diff --git a/iCubGenova03/calibrators/left_leg_calib.xml b/iCubGenova03/calibrators/left_leg_calib.xml
index 418ba4d5b1..ec0fc1bab5 100644
--- a/iCubGenova03/calibrators/left_leg_calib.xml
+++ b/iCubGenova03/calibrators/left_leg_calib.xml
@@ -23,6 +23,10 @@
 <param name="calibration1">                       2047.5         2047.5     2047.5       2047.5      2047.5    2047.5      </param>
 <param name="calibration2">                       10.0           10.0       10.0         10.0        10.0      10.0        </param>
 <param name="calibration3">                       1364.5         992.5      570.5        3157.5      3492.5    3653.5      </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
 <param name="startupPosition">                       0.0            0.0        0.0          0.0         0.0       0.0         </param>
 <param name="startupVelocity">                       10.0           10.0       10.0         10.0        10.0      10.0        </param>
 <param name="startupMaxPwm">                             120            120        120          120         120       120         </param>
diff --git a/iCubGenova03/calibrators/right_arm_calib.xml b/iCubGenova03/calibrators/right_arm_calib.xml
index 282b9d1ea4..05ed2ccb57 100644
--- a/iCubGenova03/calibrators/right_arm_calib.xml
+++ b/iCubGenova03/calibrators/right_arm_calib.xml
@@ -22,6 +22,10 @@
 <param name="calibration1">                       1706.3    853.1     2795.3    2559.4    500.0     2047.5    2047.5    2236.0    </param>
 <param name="calibration2">                       10.0      10.0      10.0      10.0      -20.0     10.0      10.0      100.0     </param>
 <param name="calibration3">                       3964.5    3209.1    4064.1    751.5     0.0       2613.5    1332.5    0.0       </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
 <param name="startupPosition">                       -30.0     30.0      0.0       45.0      0.0       0.0       0.0       15.0      </param>
 <param name="startupVelocity">                       10.0      10.0      10.0      10.0      30.0      30.0      30.0      100.0     </param>
 <param name="startupMaxPwm">                             120       120       120       120       0         0         0         0         </param>
diff --git a/iCubGenova03/calibrators/right_hand_calib.xml b/iCubGenova03/calibrators/right_hand_calib.xml
index b48a25f74e..1098c7adc0 100644
--- a/iCubGenova03/calibrators/right_hand_calib.xml
+++ b/iCubGenova03/calibrators/right_hand_calib.xml
@@ -18,14 +18,18 @@
 
 <!--USE THIS FOR CAN ROBOT CALIBRATION-->
 <group name="CALIBRATION">
-<param name="calibrationType">                                                                                            3        4        4        4        4        4        4        4        </param>
-<param name="calibration1">                                                                                               1243.3   255.0    30.0     242.0    62.0     250.0    90.0     642.0    </param>
-<param name="calibration2">                                                                                               10.0     10.0     30.0     10.0     10.0     10.0     10.0     10.0     </param>
-<param name="calibration3">                                                                                               0.0      6000.0   6600.0   6000.0   -7000.0  6000.0   7000.0   14000.0  </param>
-<param name="startupPosition">                                                                                               45.0     0.0      0.0      0.0      0.0      0.0      0.0      0.0      </param>
-<param name="startupVelocity">                                                                                               100.0    100.0    100.0    100.0    100.0    100.0    100.0    100.0    </param>
-<param name="startupMaxPwm">                                                                                                     0        0        0        0        0        0        0        0        </param>
-<param name="startupPosThreshold">                                                                                           1000     1000     1000     1000     1000     1000     1000     1000     </param>
+<param name="calibrationType">                    3        4        4        4        4        4        4        4        </param>
+<param name="calibration1">                       1243.3   255.0    30.0     242.0    62.0     250.0    90.0     642.0    </param>
+<param name="calibration2">                       10.0     10.0     30.0     10.0     10.0     10.0     10.0     10.0     </param>
+<param name="calibration3">                       0.0      6000.0   6600.0   6000.0   -7000.0  6000.0   7000.0   14000.0  </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00   0.00   0.00      </param>
+<param name="startupPosition">                    45.0     0.0      0.0      0.0      0.0      0.0      0.0      0.0      </param>
+<param name="startupVelocity">                    100.0    100.0    100.0    100.0    100.0    100.0    100.0    100.0    </param>
+<param name="startupMaxPwm">                      0        0        0        0        0        0        0        0        </param>
+<param name="startupPosThreshold">                1000     1000     1000     1000     1000     1000     1000     1000     </param>
 </group>
    
  
diff --git a/iCubGenova03/calibrators/right_leg_calib.xml b/iCubGenova03/calibrators/right_leg_calib.xml
index 742b644522..a8f586fcd1 100644
--- a/iCubGenova03/calibrators/right_leg_calib.xml
+++ b/iCubGenova03/calibrators/right_leg_calib.xml
@@ -24,6 +24,10 @@
 <param name="calibration1">                       2047.5          2047.5      2047.5    2047.5         2047.5        2047.5        </param>
 <param name="calibration2">                       10.0            10.0        10.0      10.0           10.0          10.0          </param>
 <param name="calibration3">                       836.5           1957.5      271.5     3972.5         2622.5        3115.5        </param>
+<param name="calibration4">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibration5">                       0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationZero">                    0.00       0.00    0.00    0.00       0.00      0.00         </param>
+<param name="calibrationDelta">                   0.00       0.00    0.00    0.00       0.00      0.00         </param>
 <param name="startupPosition">                       0.0             0.0         0.0       0.0            0.0           0.0           </param>
 <param name="startupVelocity">                       10.0            10.0        10.0      10.0           10.0          10.0          </param>
 <param name="startupMaxPwm">                             120             120         120       120            120           120           </param>
diff --git a/iCubGenova03/calibrators/torso_calib.xml b/iCubGenova03/calibrators/torso_calib.xml
index b602536040..0683cd975c 100644
--- a/iCubGenova03/calibrators/torso_calib.xml
+++ b/iCubGenova03/calibrators/torso_calib.xml
@@ -10,23 +10,26 @@
             <param name="deviceName"> Torso_Calibrator </param>        
         </group>             
  
+<group name="HOME">          
+<param name="positionHome"> 0        0       -20        0             </param>       
+<param name="velocityHome"> 10       10      10         0             </param>       
+</group>       
+
 <group name="CALIBRATION">   
- 
 <param name="calibrationType">            3        3       3         0             </param>       
 <param name="calibration1">               2047.5   2047.5  2047.5    0             </param>       
 <param name="calibration2">               10.0     10.0    10.0      0             </param>       
 <param name="calibration3">               1197.5   4054.5  1574.5    0             </param>       
+<param name="calibration4">                0.00       0.00    0.00    0.00         </param>
+<param name="calibration5">                0.00       0.00    0.00    0.00         </param>
+<param name="calibrationZero">             0.00       0.00    0.00    0.00         </param>
+<param name="calibrationDelta">            0.00       0.00    0.00    0.00         </param>
 <param name="startupPosition">               0.0      0.0     0.0       0             </param>       
 <param name="startupVelocity">               10.0     10.0    10.0      0             </param>       
 <param name="startupMaxPwm">                     120      120     120       0             </param>       
 <param name="startupPosThreshold">           2        2       2         2             </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> 0        0       -20        0             </param>       
-<param name="velocityHome"> 10       10      10         0             </param>       
-</group>       
- 
+  
        <param name="CALIB_ORDER"> (0 1 2) </param>       
                
         <action phase="startup" level="10" type="calibrate">           
diff --git a/iCubTokyo01/calibrators/head_calib.xml b/iCubTokyo01/calibrators/head_calib.xml
index 1a5769fcc4..f8ae962dd0 100644
--- a/iCubTokyo01/calibrators/head_calib.xml
+++ b/iCubTokyo01/calibrators/head_calib.xml
@@ -9,21 +9,24 @@
             <param name="deviceName"> Head_Calibrator </param>         
         </group>             
  
+<group name="HOME">          
+<param name="positionHome"> -30           0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group>
+
 <group name="CALIBRATION">   
- 
 <param name="calibrationType">            3             3             3             3             0             0             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        2047.5        900           900           </param>       
 <param name="calibration2">               10            10            10            10            20            20            </param>       
 <param name="calibration3">               3486.4375     1769.95       2260.213      4030.1625     0             0             </param>       
+<param name="calibration4">                     0           0           0           0           0           0           </param>
+<param name="calibration5">                     0           0           0           0           0           0           </param>
+<param name="calibrationZero">                  0           0           0           0           0           0           </param>
+<param name="calibrationDelta">                 0           0           0           0           0           0           </param> 
 <param name="startupPosition">               0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            10            10            10            </param>       
 <param name="startupMaxPwm">                     250           250           600           600           600           600           </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             </param>       
-</group>       
- 
-<group name="HOME">          
-<param name="positionHome"> -30           0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
 </group>       
  
         <param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param>          
diff --git a/iCubTokyo01/calibrators/left_arm_calib.xml b/iCubTokyo01/calibrators/left_arm_calib.xml
index 6464933898..d2b734491e 100644
--- a/iCubTokyo01/calibrators/left_arm_calib.xml
+++ b/iCubTokyo01/calibrators/left_arm_calib.xml
@@ -9,23 +9,26 @@
             <param name="deviceName"> Left_Arm_Calibrator </param>     
         </group>             
  
+<group name="HOME">          
+<param name="positionHome"> -30           30            0             45            0             0             0             15            </param>       
+<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
+</group>       
+
 <group name="CALIBRATION">   
- 
 <param name="calibrationType">            3             3             3             3             0             3             3             3             </param>       
 <param name="calibration1">               2388.75       3241.875      2047.5        1535.625      1000          2047.5        2047.5        2291          </param>       
 <param name="calibration2">               10            10            10            10            20            10            10            100           </param>       
-<param name="calibration3">               3081.4875     1918.9625     2405.813      879.2875      0             1205.75       3071.25       0             </param>       
+<param name="calibration3">               3081.4875     1918.9625     2405.813      879.2875      0             1205.75       3071.25       0             </param>   
+<param name="calibration4">                     0           0           0           0           0           0      0     0     </param>
+<param name="calibration5">                     0           0           0           0           0           0      0     0     </param>
+<param name="calibrationZero">                  0           0           0           0           0           0      0     0     </param>
+<param name="calibrationDelta">                 0           0           0           0           0           0      0     0     </param> 
 <param name="startupPosition">               -30           30            0             45            0             0             0             15            </param>       
 <param name="startupVelocity">               10            10            10            10            30            10            10            100           </param>       
 <param name="startupMaxPwm">                     120           120           120           120           0             0             0             0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             90            90            </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> -30           30            0             45            0             0             0             15            </param>       
-<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
-</group>       
- 
+  
         <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>        
  
         <action phase="startup" level="10" type="calibrate">           
diff --git a/iCubTokyo01/calibrators/left_hand_calib.xml b/iCubTokyo01/calibrators/left_hand_calib.xml
index ac168fe42c..05db43918d 100644
--- a/iCubTokyo01/calibrators/left_hand_calib.xml
+++ b/iCubTokyo01/calibrators/left_hand_calib.xml
@@ -9,24 +9,26 @@
             <param name="deviceName"> Left_Hand_Calibrator </param>    
         </group>             
  
-<group name="CALIBRATION">   
-
+<group name="HOME">          
+<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
+</group>       
 
+<group name="CALIBRATION">   
 <param name="calibrationType">            3             4             4             4             4             4             4             4             </param>       
 <param name="calibration1">               1503.88889    255           10            248           10            250           25            705           </param>       
 <param name="calibration2">               10            10            30            10            10            10            10            10            </param>       
-<param name="calibration3">               0             6000          -8000         6000          7400          6000          -7400         -14000        </param>       
+<param name="calibration3">               0             6000          -8000         6000          7400          6000          -7400         -14000        </param>      
+<param name="calibration4">                     0           0           0           0           0           0      0     0     </param>
+<param name="calibration5">                     0           0           0           0           0           0      0     0     </param>
+<param name="calibrationZero">                  0           0           0           0           0           0      0     0     </param>
+<param name="calibrationDelta">                 0           0           0           0           0           0      0     0     </param> 
 <param name="startupPosition">               30            3             0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               100           100           100           100           100           100           100           100           </param>       
 <param name="startupMaxPwm">                     0             0             0             0             0             0             0             0             </param>       
 <param name="startupPosThreshold">           90            90            90            90            90            90            90            90            </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
-</group>       
- 
+  
         <param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>         
                
         <action phase="startup" level="10" type="calibrate">           
diff --git a/iCubTokyo01/calibrators/left_leg_calib.xml b/iCubTokyo01/calibrators/left_leg_calib.xml
index 6cc68e6c17..964b995115 100644
--- a/iCubTokyo01/calibrators/left_leg_calib.xml
+++ b/iCubTokyo01/calibrators/left_leg_calib.xml
@@ -9,23 +9,26 @@
             <param name="deviceName"> Left_Leg_Calibrator </param>     
         </group>             
  
+<group name="HOME">          
+<param name="positionHome"> 0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group>       
+
 <group name="CALIBRATION">   
- 
 <param name="calibrationType">            3             3             3             3             3             3             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        2047.5        2047.5        2047.5        </param>       
 <param name="calibration2">               10            10            10            10            10            10            </param>       
 <param name="calibration3">               1700.5625     3574.025      1967.875      1129.5375     3810.625      834.925       </param>       
+<param name="calibration4">                     0           0           0           0           0           0           </param>
+<param name="calibration5">                     0           0           0           0           0           0           </param>
+<param name="calibrationZero">                  0           0           0           0           0           0           </param>
+<param name="calibrationDelta">                 0           0           0           0           0           0           </param> 
 <param name="startupPosition">               0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            10            10            10            </param>       
 <param name="startupMaxPwm">                     120           120           120           120           120           120           </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> 0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>       
- 
+  
         <param name="CALIB_ORDER">(0 1 2 3 4 5) </param>               
                
         <action phase="startup" level="10" type="calibrate">           
diff --git a/iCubTokyo01/calibrators/right_arm_calib.xml b/iCubTokyo01/calibrators/right_arm_calib.xml
index 0a6588326d..814bbe16a4 100644
--- a/iCubTokyo01/calibrators/right_arm_calib.xml
+++ b/iCubTokyo01/calibrators/right_arm_calib.xml
@@ -9,23 +9,26 @@
             <param name="deviceName"> Right_Arm_Calibrator </param>    
         </group>             
  
+<group name="HOME">          
+<param name="positionHome"> -30           30            0             45            0             0             0             15            </param>       
+<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
+</group>       
+
 <group name="CALIBRATION">   
- 
 <param name="calibrationType">            3             3             3             3             0             3             3             3             </param>       
 <param name="calibration1">               1706.25       853.13        2047.50       2559.38       900.00        2047.50       2047.50       2150.00       </param>       
 <param name="calibration2">               10.00         10.00         10.00         10.00         -20.00        10.00         10.00         100.00        </param>       
 <param name="calibration3">               348.075       2.275         448.175       1370.688      0             3202.063      1057.875      0             </param>       
+<param name="calibration4">                     0           0           0           0           0           0      0     0     </param>
+<param name="calibration5">                     0           0           0           0           0           0      0     0     </param>
+<param name="calibrationZero">                  0           0           0           0           0           0      0     0     </param>
+<param name="calibrationDelta">                 0           0           0           0           0           0      0     0     </param> 
 <param name="startupPosition">               -30           30            0             45            0             0             0             15            </param>       
 <param name="startupVelocity">               10            10            10            10            30            10            10            100           </param>       
 <param name="startupMaxPwm">                     120           120           120           120           0             0             0             0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             90            90            </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> -30           30            0             45            0             0             0             15            </param>       
-<param name="velocityHome"> 10            10            10            10            30            10            10            100           </param>       
-</group>       
- 
+  
        <param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>         
                
         <action phase="startup" level="10" type="calibrate">           
diff --git a/iCubTokyo01/calibrators/right_hand_calib.xml b/iCubTokyo01/calibrators/right_hand_calib.xml
index 4821ab9db2..2777bb2e08 100644
--- a/iCubTokyo01/calibrators/right_hand_calib.xml
+++ b/iCubTokyo01/calibrators/right_hand_calib.xml
@@ -9,24 +9,26 @@
             <param name="deviceName"> Right_Hand_Calibrator </param>   
         </group>             
  
-<group name="CALIBRATION">   
- 
-<param name="calibrationType">            3             4             4             4             4             4             4             4             </param>       
+<group name="HOME">          
+<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
+</group>       
 
+<group name="CALIBRATION">    
+<param name="calibrationType">            3             4             4             4             4             4             4             4             </param>       
 <param name="calibration1">               1574          230           40            235           15            255           15            645           </param>       
 <param name="calibration2">               10.00         10.00         30.00         10.00         10.00         10.00         10.00         10.00         </param>       
-<param name="calibration3">               0.00          6000.00       8000.00       6000.00       -7400.00      6000.00       7400.00       14000.00      </param>       
+<param name="calibration3">               0.00          6000.00       8000.00       6000.00       -7400.00      6000.00       7400.00       14000.00      </param>    
+<param name="calibration4">                     0           0           0           0           0           0      0     0     </param>
+<param name="calibration5">                     0           0           0           0           0           0      0     0     </param>
+<param name="calibrationZero">                  0           0           0           0           0           0      0     0     </param>
+<param name="calibrationDelta">                 0           0           0           0           0           0      0     0     </param> 
 <param name="startupPosition">               30            3             0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               100           100           100           100           100           100           100           100           </param>       
 <param name="startupMaxPwm">                     0             0             0             0             0             0             0             0             </param>       
 <param name="startupPosThreshold">           90            90            90            90            90            90            90            90            </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> 90            3             0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            10            10            </param>       
-</group>       
- 
+  
         <param name="CALIB_ORDER">(0 1 3 5) (2 4 6 7) </param>         
                
         <action phase="startup" level="10" type="calibrate">           
diff --git a/iCubTokyo01/calibrators/right_leg_calib.xml b/iCubTokyo01/calibrators/right_leg_calib.xml
index 3fae4cc4bd..227c46edec 100644
--- a/iCubTokyo01/calibrators/right_leg_calib.xml
+++ b/iCubTokyo01/calibrators/right_leg_calib.xml
@@ -9,23 +9,26 @@
             <param name="deviceName"> Right_Leg_Calibrator </param>    
         </group>             
  
+<group name="HOME">          
+<param name="positionHome"> 0             0             0             0             0             0             </param>       
+<param name="velocityHome"> 10            10            10            10            10            10            </param>       
+</group>       
+
 <group name="CALIBRATION">   
- 
 <param name="calibrationType">            3             3             3             3             3             3             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        2047.5        2047.5        2047.5        </param>       
 <param name="calibration2">               10            10            10            10            10            10            </param>       
-<param name="calibration3">               409.50        2297.75       745.06        3173.63       3583.13       1601.60       </param>       
+<param name="calibration3">               409.50        2297.75       745.06        3173.63       3583.13       1601.60       </param>     
+<param name="calibration4">                     0           0           0           0           0           0           </param>
+<param name="calibration5">                     0           0           0           0           0           0           </param>
+<param name="calibrationZero">                  0           0           0           0           0           0           </param>
+<param name="calibrationDelta">                 0           0           0           0           0           0           </param> 
 <param name="startupPosition">               0             0             0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            10            10            10            </param>       
 <param name="startupMaxPwm">                     120           120           120           120           120           120           </param>       
 <param name="startupPosThreshold">           2             2             2             2             2             2             </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> 0             0             0             0             0             0             </param>       
-<param name="velocityHome"> 10            10            10            10            10            10            </param>       
-</group>       
- 
+  
         <param name="CALIB_ORDER">(0 1 2 3 4 5) </param>               
                
         <action phase="startup" level="10" type="calibrate">           
diff --git a/iCubTokyo01/calibrators/torso_calib.xml b/iCubTokyo01/calibrators/torso_calib.xml
index 3f8aab5bc3..5108addab7 100644
--- a/iCubTokyo01/calibrators/torso_calib.xml
+++ b/iCubTokyo01/calibrators/torso_calib.xml
@@ -9,23 +9,26 @@
             <param name="deviceName"> Torso_Calibrator </param>        
         </group>             
  
+<group name="HOME">          
+<param name="positionHome"> 0             0             -20           0             </param>       
+<param name="velocityHome"> 10            10            10            0             </param>       
+</group>       
+
 <group name="CALIBRATION">   
- 
 <param name="calibrationType">            3             3             3             0             </param>       
 <param name="calibration1">               2047.5        2047.5        2047.5        0             </param>       
 <param name="calibration2">               10            10            10            0             </param>       
-<param name="calibration3">               2612.838      364           836.0625      0             </param>       
+<param name="calibration3">               2612.838      364           836.0625      0             </param>   
+<param name="calibration4">                     0           0           0           0             </param>
+<param name="calibration5">                     0           0           0           0             </param>
+<param name="calibrationZero">                  0           0           0           0             </param>
+<param name="calibrationDelta">                 0           0           0           0             </param> 
 <param name="startupPosition">               0             0             0             0             </param>       
 <param name="startupVelocity">               10            10            10            0             </param>       
 <param name="startupMaxPwm">                     120           120           120           0             </param>       
 <param name="startupPosThreshold">           2             2             2             2             </param>       
 </group>       
- 
-<group name="HOME">          
-<param name="positionHome"> 0             0             -20           0             </param>       
-<param name="velocityHome"> 10            10            10            0             </param>       
-</group>       
- 
+  
        <param name="CALIB_ORDER"> (0 1 2) </param>       
                
         <action phase="startup" level="10" type="calibrate">           
diff --git a/tests/dry-run/check-xml/schemas/calibrators1.xsd b/tests/dry-run/check-xml/schemas/calibrators1.xsd
deleted file mode 100644
index 790b7fcc7f..0000000000
--- a/tests/dry-run/check-xml/schemas/calibrators1.xsd
+++ /dev/null
@@ -1,9 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- Created with Liquid Technologies Online Tools 1.0 (https://www.liquid-technologies.com) -->
-<xs:schema xmlns:tns="http://www.w3.org/2001/XInclude" attributeFormDefault="unqualified" elementFormDefault="qualified" targetNamespace="http://www.w3.org/2001/XInclude" xmlns:xs="http://www.w3.org/2001/XMLSchema">
-  <xs:element name="include">
-    <xs:complexType>
-      <xs:attribute name="href" type="xs:string" use="required" />
-    </xs:complexType>
-  </xs:element>
-</xs:schema>
\ No newline at end of file
diff --git a/tests/dry-run/check-xml/src/check-xml.cpp b/tests/dry-run/check-xml/src/check-xml.cpp
index 2c2d255b36..ce4d2d11ae 100644
--- a/tests/dry-run/check-xml/src/check-xml.cpp
+++ b/tests/dry-run/check-xml/src/check-xml.cpp
@@ -180,7 +180,7 @@ bool checkCartesian(const std::string& robot_dir, std::vector<std::string>& vect
 }
 
 bool checkCalibratorsWrappersRemappers(const std::string& robot_dir, std::vector<std::string>& vectorAllFiles, bool& pass){
-    for (std::vector<std::string>::iterator t=vectorAllFiles.begin(); t!=vectorAllFiles.end(); ++t) 
+    for (auto t=vectorAllFiles.begin(); t!=vectorAllFiles.end(); ++t) 
     {
         std::string ele = *t;
         std::string part, target1, target2;
diff --git a/vizzy/calibrators/head_calib.xml b/vizzy/calibrators/head_calib.xml
index bdff1c8d06..2f1e106353 100644
--- a/vizzy/calibrators/head_calib.xml
+++ b/vizzy/calibrators/head_calib.xml
@@ -7,20 +7,24 @@
 		<param name="joints"> 6 </param>
 		<param name="deviceName"> Head_Torso_Calibrator </param>
 	</group>
+	<group name="HOME">
+		<param name="positionHome"> -30 0 0 0 0 0 </param>
+		<param name="velocityHome"> 10 10 10 10 10 10 </param>
+	</group>
 	<group name="CALIBRATION">
 		<param name="calibrationType"> 0 0 0 0 0 0 </param>
 		<param name="calibration1"> 300.0 300.0 800.0 1000.0 1000.0 1000.0</param>
 		<param name="calibration2"> 5.0 10.0 10.0 10.0 -20.0 -20.0 </param>
 		<param name="calibration3"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
+		<param name="calibration4"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
+		<param name="calibration5"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
+		<param name="calibrationZero"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
+		<param name="calibrationDelta"> 0.0 0.0 0.0 0.0 0.0 0.0 </param> 
 		<param name="startupPosition"> 5.0 0.0 0.0 0.0 0.0 0.0  </param>
 		<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 </param>
 		<param name="startupMaxPwm"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
 		<param name="startupPosThreshold"> 1 1 1 1 180 180  </param>
 	</group>
-	<group name="HOME">
-		<param name="positionHome"> -30 0 0 0 0 0 </param>
-		<param name="velocityHome"> 10 10 10 10 10 10 </param>
-	</group>
 	<param name="CALIB_ORDER"> (0) (1 2 3) (4) (5) </param>
 	<action phase="startup" level="10" type="calibrate">
 		<param name="target">head_torso_mc</param>
diff --git a/vizzy/calibrators/left_arm_calib.xml b/vizzy/calibrators/left_arm_calib.xml
index ec1953f4d5..38f3ba7669 100644
--- a/vizzy/calibrators/left_arm_calib.xml
+++ b/vizzy/calibrators/left_arm_calib.xml
@@ -7,20 +7,24 @@
 		<param name="joints"> 8 </param>
 		<param name="deviceName"> Left_Arm_Calibrator </param>
 	</group>
+	<group name="HOME">
+		<param name="positionHome"> 0 0 0 0 0 0 0 0  </param>
+		<param name="velocityHome"> 10 10 10 10 0 0 0 0  </param>
+	</group>
 	<group name="CALIBRATION">
 		<param name="calibrationType"> 0 0 0 0 0 0 0 0  </param>
 		<param name="calibration1"> 500.0 300.0 1000.0 1000.0 1000.0 0.0 0.0 0.0 </param>
 		<param name="calibration2"> 10.0 10.0 20.0 10.0 10 0.0 0.0 0.0   </param>
 		<param name="calibration3"> 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0  </param>
+		<param name="calibration4"> 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
+		<param name="calibration5"> 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
+		<param name="calibrationZero"> 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
+		<param name="calibrationDelta"> 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param> 
 		<param name="startupPosition"> 0.0 50.0 0.0 0.0 0.0 0.0 0.0 0.0  </param>
 		<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0  </param>
 		<param name="startupMaxPwm"> 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0  </param>
 		<param name="startupPosThreshold"> 1 1 1 1 1 0 0 0  </param>
 	</group>
-	<group name="HOME">
-		<param name="positionHome"> 0 0 0 0 0 0 0 0  </param>
-		<param name="velocityHome"> 10 10 10 10 0 0 0 0  </param>
-	</group>
 	<param name="CALIB_ORDER"> (0 1 2) (3 4) </param>
 	<action phase="startup" level="11" type="calibrate">
 		<param name="target">left_arm_mc</param>
diff --git a/vizzy/calibrators/right_arm_calib.xml b/vizzy/calibrators/right_arm_calib.xml
index 21c67895d7..fe128a71e8 100644
--- a/vizzy/calibrators/right_arm_calib.xml
+++ b/vizzy/calibrators/right_arm_calib.xml
@@ -7,20 +7,24 @@
 		<param name="joints"> 8 </param>
 		<param name="deviceName"> Right_Arm_Calibrator </param>
 	</group>
+	<group name="HOME">
+		<param name="positionHome"> 0 0 0 0 0 0 0 0 </param>
+		<param name="velocityHome"> 10 10 10 10 10 0 0 0  </param>
+	</group>
 	<group name="CALIBRATION">
 		<param name="calibrationType"> 0 0 0 0 0 0 0 0  </param>
 		<param name="calibration1"> 500.0 -300.0 600.0 700.0 -900.0 0.0 0.0 0.0 </param>
 		<param name="calibration2"> 10.0 10.0 20.0 10.0 10 0.0 0.0 0.0   </param>
 		<param name="calibration3"> 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0  </param>
+		<param name="calibration4"> 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
+		<param name="calibration5"> 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
+		<param name="calibrationZero"> 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
+		<param name="calibrationDelta"> 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param> 
 		<param name="startupPosition"> 0.0 50.0 0.0 0.0 0.0 0.0 0.0 0.0  </param>
 		<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0  </param>
 		<param name="startupMaxPwm"> 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0  </param>
 		<param name="startupPosThreshold"> 1 1 1 1 1 0 0 0  </param>
 	</group>
-	<group name="HOME">
-		<param name="positionHome"> 0 0 0 0 0 0 0 0 </param>
-		<param name="velocityHome"> 10 10 10 10 10 0 0 0  </param>
-	</group>
 	<param name="CALIB_ORDER"> (0 1 2) (3 4) </param>
 	<action phase="startup" level="11" type="calibrate">
 		<param name="target">right_arm_mc</param>
diff --git a/vizzy/calibrators/shoulders_calib.xml b/vizzy/calibrators/shoulders_calib.xml
index 72b89ecd99..3cd89586c9 100644
--- a/vizzy/calibrators/shoulders_calib.xml
+++ b/vizzy/calibrators/shoulders_calib.xml
@@ -7,20 +7,24 @@
 		<param name="joints"> 6 </param>
 		<param name="deviceName"> Shoulders_Calibrator </param>
 	</group>
+	<group name="HOME">
+		<param name="positionHome"> 0 0 20 0 0 20 </param>
+		<param name="velocityHome"> 10 10 10 10 10 10 </param>
+	</group>
 	<group name="CALIBRATION">
 		<param name="calibrationType"> 0 0 0 0 0 0 </param>
 		<param name="calibration1"> 300.0 -500.0 400.0 -300.0 500.0 -400.0 </param>
 		<param name="calibration2"> 10.0 10.0 10.0 10.0 10.0 10.0  </param>
 		<param name="calibration3"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
+		<param name="calibration4"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
+		<param name="calibration5"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
+		<param name="calibrationZero"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
+		<param name="calibrationDelta"> 0.0 0.0 0.0 0.0 0.0 0.0 </param> 
 		<param name="startupPosition"> 0.0 0.0 40.0 0.0 0.0 40.0 </param>
 		<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 </param>
 		<param name="startupMaxPwm"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
 		<param name="startupPosThreshold"> 1 1 1 1 1 1 </param>
 	</group>
-	<group name="HOME">
-		<param name="positionHome"> 0 0 20 0 0 20 </param>
-		<param name="velocityHome"> 10 10 10 10 10 10 </param>
-	</group>
 	<param name="CALIB_ORDER"> (2 5) (0 3) (1 4) </param>
 	<action phase="startup" level="10" type="calibrate">
 		<param name="target">shoulders_mc</param>