[iCubGenova07] Change calibration values after maintenance

[AntonioConsilvio]

What changes:

This PR updates the calibration and configuration files after maintenance, check the icub-tech-support issue:

• iCubGenova07 S/N:040 – Broken right knee and broken right thumb icub-tech-support#1925

cc @filippoborgogni @reafrancesco

[gemini-code-assist]

Hello @AntonioConsilvio, 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!

Summary of Changes

This pull request addresses issue #1925 in the icub-tech-support repository by updating calibration and configuration files for the iCubGenova07 robot, specifically focusing on the right arm. The changes involve modifications to the right-arm-calib.xml and right-arm-eb28-j8_11-mec.xml files, as well as a minor change to general.xml. The calibration values, home positions, and coupling matrices have been adjusted to reflect maintenance performed on the robot.

Highlights

• Calibration Update: The calibration values in right_arm-calib.xml have been updated, including calibration1, calibration2, calibration4, calibration5, startupPosition, and startupVelocity parameters, to reflect the current state of the robot after maintenance.
• Mechanical Coupling Adjustment: The matrixJ2M and matrixM2J parameters in right_arm-eb28-j8_11-mec.xml have been modified to correct the mechanical couplings of the right arm.
• General Configuration: A minor formatting change was made to general.xml to ensure consistency in the useRawEncoderData parameter.

Changelog

• iCubGenova07/calibrators/right_arm-calib.xml
  • Updated positionHome and velocityHome values in the HOME group (lines 14-15).
  • Modified calibration1, calibration2, calibration4, and calibration5 values in the CALIBRATION group (lines 21-25).
  • Adjusted startupPosition and startupVelocity values (lines 29-30).
  • Removed an extra blank line at the end of the file (line 49).
• iCubGenova07/general.xml
  • Added a space to the useRawEncoderData parameter for formatting consistency (line 8).
• iCubGenova07/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml
  • Corrected the matrixJ2M and matrixM2J parameters in the COUPLINGS group (lines 32-44).

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[gemini-code-assist]

Code Review

This PR updates calibration and configuration files after maintenance. The changes seem reasonable, but I have a few suggestions for improvement.

Summary of Findings

• Inconsistent spacing: There are some inconsistencies in spacing within the XML files. Consistent spacing improves readability.
• Matrix sign change: The sign change in the matrix parameters should be verified for correctness and impact on the robot's behavior.
• Startup position change: The startup position for joint 8 has been changed from 30 to 50. This change should be verified for correctness and impact on the robot's behavior.

Merge Readiness

The pull request updates calibration and configuration files after maintenance. While the changes seem reasonable, the sign change in the matrix parameters and the startup position change should be verified for correctness and impact on the robot's behavior. I am unable to approve the pull request, and users should have others review and approve this code before merging. I recommend addressing the matrix sign change and startup position change before merging.

[pattacini]

Can merge this although we're still inquiring about the correct matrix.