[ergoCubSN000] Removed the torso pitch once again

Revert "[ergoCubSN000] Reintroduce the torso pitch"

This reverts commit 31506b3.

Author: S-Dafarra

ergoCubSN000/calibrators/torso-calib.xml

@@ -47,7 +47,7 @@
 
  <!-- Joint 1 has been removed from the calibration order for motor safety -->
  <!-- <param name="CALIB_ORDER">(0) (1) (2) </param> --> <!-- Don't remove this line -->
-		<param name="CALIB_ORDER"> (2) (1) (0) </param>
+		<param name="CALIB_ORDER"> (2) (0) </param>
 
 		<action phase="startup" level="10" type="calibrate">
 		    <param name="target">torso-eb5-j0_2-mc</param>

ergoCubSN000/estimators/wholebodydynamics.xml

@@ -3,7 +3,7 @@
 
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="wholebodydynamics" type="wholebodydynamics">
-        <param name="axesNames">(torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_roll,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_roll,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
+        <param name="axesNames">(torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_roll,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_roll,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
         <param name="nonConsideredAxesPositions">((torso_pitch, 0.1745))</param>
         <param name="modelFile">model.urdf</param>
         <param name="fixedFrameGravity">(0,0,-9.81)</param>
@@ -36,7 +36,7 @@
         <group name="GRAVITY_COMPENSATION">
             <param name="enableGravityCompensation">true</param>
             <param name="gravityCompensationBaseLink">root_link</param>
-            <param name="gravityCompensationAxesNames">(torso_pitch,torso_roll,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
+            <param name="gravityCompensationAxesNames">(torso_roll,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
         </group>