iCubGrenoble01 configuration updated

[ale-git]

Current limits and PID coefficients updated for iCubGrenoble face.

[gemini-code-assist]

Summary of Changes

Hello @ale-git, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request delivers a comprehensive update to the iCubGrenoble01 robot's configuration. The primary focus is on refining the face's mechanical and motor control parameters, including precise adjustments to joint limits, PID coefficients, and calibration procedures. Beyond the face, camera performance is enhanced through increased framerates and updated GUIDs. The changes also introduce new, more organized configuration files for the robot, aiming to streamline its overall setup and management.

Highlights

• Face Configuration Updates: Significant adjustments have been made to the home positions, calibration parameters, joint limits, motor currents, PWM limits, and PID coefficients for various iCubGrenoble face joints, including the jaw, eyelids, and lips.
• Face Calibration Order Refinement: The calibration process for the face joints has been modified to calibrate each joint individually, transitioning from a grouped calibration approach to a sequential, single-joint method.
• Camera Configuration Enhancements: The framerate for the 320x240 resolution cameras (both left and right) has been increased from 30fps to 60fps. Additionally, the GUIDs for both left and right cameras have been updated across different resolutions.
• Mechanical and Motor Control Parameter Tuning: Updated gearbox ratios, motor speed feedback settings, and hardware joint position limits for face mechanical components. Motor control parameters such as joint position limits, overload/nominal/peak currents, PWM limits, and PID gains for face motor controllers have also been refined.
• New Robot Configuration Files: Two new XML configuration files, icub_all_all_xml and icub_all_head_xml, have been introduced to consolidate and define the entire robot's setup or specific parts (head and face), respectively.

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[gemini-code-assist]

Code Review

This pull request updates configuration files for the iCubGrenoble01 robot's face, including limits and PID coefficients. While most changes align with this goal, there are several significant issues that require attention. Two new files, icub_all_all_xml and icub_all_head_xml, have been added with names that suggest they might be accidental artifacts. Additionally, a change in icub_all.xml removes the right arm skin configuration, which seems unrelated to the stated purpose of this PR. I've also noted several opportunities to improve formatting and consistency across the configuration files.

[pattacini]

Thanks heaps @ale-git 👍🏻