[iCubErzelli01] Configuration files alignment after maintenance

[AntonioConsilvio]

What changes:

This PR aligns all uncommitted changes that were present in the robot head's robots-configuration and that are necessary for correct operation.

In addition, the robot has been updated and it was necessary to update the coupling matrices of the thumb oppose and thumb proximal joints. Check the issue for more information:

• iCubErzelli01 S/N:032 – Robotology-superbuild and Firmware Upgrade icub-tech-support#2216

[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 integrates essential configuration updates for the iCubErzelli01 robot following recent maintenance. It includes critical adjustments to arm calibration values and revised coupling matrices for the right arm's thumb joints, which were necessitated by a robot hardware update. Additionally, several configurations related to the robot's legs, torso skin, and associated sensors have been temporarily disabled by commenting them out in the main configuration file, streamlining the active setup for current operational needs.

Highlights

• Configuration Alignment: Synchronized uncommitted configuration changes from the robot head's robots-configuration to ensure proper operation.
• Arm Calibration Updates: Adjusted calibration parameters (calibration4 and calibration5) for both the left and right arms.
• Thumb Joint Coupling Matrix Revision: Updated the matrixJ2M and matrixM2J parameters for the right arm's thumb oppose and thumb proximal joints, reflecting changes necessary after a robot update.
• Component Deactivation: Temporarily commented out configurations for the robot's legs (motor control, remappers, FT sensors, VFT, calibrators) and torso skin, effectively deactivating these components in the icub_all.xml file.

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[gemini-code-assist]

Code Review

This pull request updates robot configuration files, including calibration values and coupling matrices, and comments out sections related to the robot's legs and skin sensors. My review focuses on improving the maintainability and readability of these XML configuration files by suggesting better formatting for numerical data and a cleaner, more consistent style for commenting out unused sections.