iCubGrenoble01/face: increase the low-level frequency to 1 kHz

[Nicogene]

As per title

[gemini-code-assist]

Summary of Changes

Hello @Nicogene, 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 is designed to significantly enhance the real-time performance and responsiveness of the iCubGrenoble01 robot. It achieves this by increasing the fundamental operating frequency of its low-level control systems and adjusting related communication rates across various electronic board and motor control configurations.

Highlights

• Low-level Frequency Increase: The period parameter in all motor control wrapper configuration files (e.g., face-mc_wrapper.xml, head-mc_wrapper.xml, left_arm-mc_wrapper.xml, etc.) has been updated from 0.01 (100 Hz) to 0.001 (1 kHz). This change directly increases the low-level control frequency for various robot parts.
• Communication Rate Adjustments: The TXrateOfRegularROPs parameter in multiple electronics configuration files (e.g., face-eb22-j0_1-eln.xml, left_arm-eb24-j4_7-eln.xml, right_arm-eb3-j0_3-eln.xml, etc.) has been standardized to 1 from previous values like 3 or 5. Additionally, the PC104RXrate in pc104.xml has been changed from 5 to 1. These adjustments likely optimize the transmission and reception rates for regular operations, aligning with the increased frequency.

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[gemini-code-assist]

Code Review

This pull request increases the low-level frequency to 1 kHz for iCubGrenoble01. The period and rate parameters in the configuration files have been updated. There are also some extra spaces that should be removed.