Merge branch 'master' into devel

Author: pattacini

R1SN003/calibrators/right_arm-calib.xml

@@ -23,7 +23,7 @@
 			<param name="calibration3">            0                 0              0           0         0             0              0            0            0           0            1           0           0          </param>
 			<param name="calibration4">            0                 0              0           0         0             0              0            0            32768       0            0           0           0          </param>
 			<param name="calibration5">            0                 0              0           0         0             0              0            0            61900       0            54950       6100        37500      </param>
-			<param name="calibrationZero">         35               -15            -52         -5         0             0              0            0            0           0            0           0           0          </param>
+			<param name="calibrationZero">         35                0            -52         -5         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          </param>
 			<param name="startupPosition">         34                50             -10         90        0.0           0.0            0.0          0.0          5.0         5.0          5.0         5.0         5.0        </param>
 			<param name="startupVelocity">         10.0              10.0           10.0        10.0      10.0          10.0           10.0         100.0        100.0       100.0        100.0       100.0       100.0      </param>
@@ -45,4 +45,4 @@
 
 	<action phase="interrupt3" level="1" type="abort" />
 
-</device>
+</device>