rename wrist commands

EricPedley · EricPedley · commit 0f9462c4cc91 · 2025-09-16T15:15:57.000-07:00
diff --git a/src/udp_command.rs b/src/udp_command.rs
@@ -244,8 +244,8 @@ pub struct UdpExtendedCommand {
     pub r_elbow_pitch: f32,
     #[serde(rename = "RElbowRoll")]
     pub r_elbow_roll: f32,
-    #[serde(rename = "RWristPitch")]
-    pub r_wrist_pitch: f32,
+    #[serde(rename = "RWristRoll")]
+    pub r_wrist_roll: f32,
 
     // 11..15 left arm
     #[serde(rename = "LShoulderPitch")]
@@ -256,17 +256,17 @@ pub struct UdpExtendedCommand {
     pub l_elbow_pitch: f32,
     #[serde(rename = "LElbowRoll")]
     pub l_elbow_roll: f32,
-    #[serde(rename = "LWristPitch")]
-    pub l_wrist_pitch: f32,
+    #[serde(rename = "LWristRoll")]
+    pub l_wrist_roll: f32,
 }
 
 impl Default for UdpExtendedCommand {
     fn default() -> Self {
         Self {
             x: 0.0, y: 0.0, yaw_rate: 0.0,
             base_height: 0.0, base_roll: 0.0, base_pitch: 0.0,
-            r_shoulder_pitch: 0.0, r_shoulder_roll: (-15.0f32).to_radians(), r_elbow_pitch: 0.0, r_elbow_roll: (90.0f32).to_radians(), r_wrist_pitch: 0.0,
-            l_shoulder_pitch: 0.0, l_shoulder_roll: (15.0f32).to_radians(), l_elbow_pitch: 0.0, l_elbow_roll: (-90.0f32).to_radians(), l_wrist_pitch: 0.0,
+            r_shoulder_pitch: 0.0, r_shoulder_roll: (-15.0f32).to_radians(), r_elbow_pitch: 0.0, r_elbow_roll: (90.0f32).to_radians(), r_wrist_roll: 0.0,
+            l_shoulder_pitch: 0.0, l_shoulder_roll: (15.0f32).to_radians(), l_elbow_pitch: 0.0, l_elbow_roll: (-90.0f32).to_radians(), l_wrist_roll: 0.0,
 
         }
     }
@@ -315,12 +315,12 @@ impl crate::policy_control::InputState for Udp16ControlVectorInputState {
         arr[7] = c.r_shoulder_roll;
         arr[8] = c.r_elbow_pitch;
         arr[9] = c.r_elbow_roll;
-        arr[10] = c.r_wrist_pitch;
+        arr[10] = c.r_wrist_roll;
         arr[11] = c.l_shoulder_pitch;
         arr[12] = c.l_shoulder_roll;
         arr[13] = c.l_elbow_pitch;
         arr[14] = c.l_elbow_roll;
-        arr[15] = c.l_wrist_pitch;
+        arr[15] = c.l_wrist_roll;
         debug!("16D UDP command: x={}, y={}, yaw={}, base_height={}, r_shoulder_pitch={}", 
               c.x, c.y, c.yaw_rate, c.base_height, c.r_shoulder_pitch);
         Ok(())
@@ -339,12 +339,12 @@ impl crate::policy_control::InputState for Udp16ControlVectorInputState {
             arr[7] = cmd_state.r_shoulder_roll;
             arr[8] = cmd_state.r_elbow_pitch;
             arr[9] = cmd_state.r_elbow_roll;
-            arr[10] = cmd_state.r_wrist_pitch;
+            arr[10] = cmd_state.r_wrist_roll;
             arr[11] = cmd_state.l_shoulder_pitch;
             arr[12] = cmd_state.l_shoulder_roll;
             arr[13] = cmd_state.l_elbow_pitch;
             arr[14] = cmd_state.l_elbow_roll;
-            arr[15] = cmd_state.l_wrist_pitch;
+            arr[15] = cmd_state.l_wrist_roll;
         }
         debug!("16D UDP command from robot_description: x={}, y={}, yaw_rate={}, base_height={}", 
               cmd_state.x, cmd_state.y, cmd_state.yaw_rate, cmd_state.base_height);
