[iCubGenova08] New right pinky and ring calibration (#721)

Author: AntonioConsilvio

iCubGenova08/calibrators/right_arm-calib.xml

@@ -21,8 +21,8 @@
 	<param name="calibration1">          15487     35839    24287     31807  1500   59151  57071 0     0     0     0     0     0      0      0     0    </param>
 	<param name="calibration2">	     0         0        0         0      16384  0      0     0     0     9102  9102  9102  9102   9102   9102  10000 </param>
 	<param name="calibration3">	     0         0        0	  0	 0	0      0     0     0    -1     1    -1     1     -1      1     1    </param>
-	<param name="calibration4">          0         0        0         0      0      0      0     2770  1030  255   510   255   510    248    510   590  </param>
-	<param name="calibration5">          0         0        0         0      0      0      0     3065  3146  29    0     0     29     16     0     50   </param>
+	<param name="calibration4">          0         0        0         0      0      0      0     2770  1030  255   510   255   510    248    510   510  </param>
+	<param name="calibration5">          0         0        0         0      0      0      0     3065  3146  29    0     0     29     16     0     35   </param>
 	<param name="calibrationZero">       0         0        0         0      0      0      0     0     0     0     0     0     0      0      0     0    </param>
 	<param name="calibrationDelta">      -0.7     -1.47    0         -6.95   0      -4.5   -8.4  0     0     0     0     0     0      0      0     0    </param>
 

iCubGenova08/hardware/motorControl/right_arm-eb29-j12_15-mc.xml

@@ -44,9 +44,9 @@
         <param name="outputType">             pwm                       </param>
         <param name="fbkControlUnits">        metric_units              </param>
         <param name="outputControlUnits">     machine_units             </param>
-        <param name="kp">                500.0       500.0      -500.0       200.0       </param>
+        <param name="kp">                500.0       500.0      -500.0       100.0       </param>
         <param name="kd">                0.0         0.0         0.0         0.0         </param>
-        <param name="ki">                50.0        50.0       -50.0        20.0        </param>
+        <param name="ki">                50.0        50.0       -50.0        50.0        </param>
         <param name="maxOutput">         3360        3360        3360        3360        </param>
         <param name="maxInt">            3360        3360        3360        3360        </param>
         <param name="stictionUp">        0           0           0           0           </param>