[iCubGenova07] New calibration and PID for eyelids

[AntonioConsilvio]

What Changes:

This PR updates the configuration files after maintenance, check the issue for more info:

• iCubGenova07 S/N:040 – Eyelids go on fault icub-tech-support#2268

[gemini-code-assist]

Summary of Changes

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!

This pull request addresses necessary configuration updates for the iCubGenova07 robot's eyelids following recent maintenance. The changes ensure accurate and responsive control of the eyelids by revising calibration values, adjusting PID control parameters for the motor, and updating the associated encoder port. This work aims to maintain optimal performance and functionality of the robot's facial expressions.

Highlights

• Eyelid Calibration Update: The calibration parameters for the iCubGenova07 robot's eyelids have been updated, specifically changing the 'calibration1' and 'calibrationDelta' values in 'face-calib.xml'.
• PID Gain Adjustment: The Proportional (Kp) and Integral (Ki) gains for the eyelid motor control have been modified in 'face-eb22-j0-mc.xml', with Kp reduced and Ki introduced.
• Encoder Port Change: The encoder port for the eyelid motor has been reconfigured from 'CONN:P10' to 'CONN:P11' in 'face-eb22-j0-mc_service.xml'.

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[gemini-code-assist]

Code Review

This pull request updates calibration and PID parameters for the iCubGenova07 robot's eyelids, following a maintenance task. The changes to the parameter values are assumed to be correct. My review identifies opportunities to improve code style and maintainability by addressing inconsistent formatting in the XML configuration files. I have provided suggestions to align parameter values for better readability across the modified files.