Rename MoveToJointState to MoveToWaypoint in python sdk (#4)

PickNikRobotics · Aug 31, 2023 · 1473f69 · 1473f69
1 parent b2b1994
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/README.md b/README.md
@@ -42,7 +42,7 @@ Let's now test the SDK to see if we can execute and cancel MoveIt Studio Objecti
 There are three example scripts provided:
 * `start_blocking.py`: starts an Objective and waits until the Objective finishes execution.
 * `start_stop_async.py`: starts an Objective, waits for a user-defined number of seconds, and then cancels the running Objective.
-* `move_to_joint_state.py`: runs the "Move to Joint State" Objective, using a parameter override to set the waypoint to move to.
+* `move_to_waypoint.py`: runs the "Move to Waypoint" Objective, using a parameter override to set the waypoint to move to.
 
 To run the `Open Gripper` Objective, let's use `start_blocking.py` since this Objective shouldn't take long to complete:
 
@@ -57,12 +57,12 @@ We will let this Objective run for 10 seconds:
 ros2 run moveit_studio_py start_stop_async.py "3 Waypoints Pick and Place" 10
 ```
 
-To run the `move_to_joint_state.py` example, a valid waypoint must be provided.
+To run the `move_to_waypoint.py` example, a valid waypoint must be provided.
 A list of pre-defined waypoints can be found in the ui's "Endpoint" tab.
 The following command would move the robot arm to the `Look at Left Table` waypoint:
 
 ```
-ros2 run moveit_studio_py move_to_joint_state.py "Look at Left Table"
+ros2 run moveit_studio_py move_to_waypoint.py "Look at Left Table"
 ```
 
 If you look at the `Objectives` tab in the MoveIt Studio UI, you should see these Objectives starting/stopping successfully.
diff --git a/moveit_studio_py/CMakeLists.txt b/moveit_studio_py/CMakeLists.txt
@@ -20,7 +20,7 @@ ament_python_install_package(
 install(PROGRAMS
   examples/start_blocking.py
   examples/start_stop_async.py
-  examples/move_to_joint_state.py
+  examples/move_to_waypoint.py
   DESTINATION lib/${PROJECT_NAME}
 )
 

diff --git a/...studio_py/examples/move_to_joint_state.py → ...it_studio_py/examples/move_to_waypoint.py b/...studio_py/examples/move_to_joint_state.py → ...it_studio_py/examples/move_to_waypoint.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Run the "Move to Joint State" Objective with the waypoint defined as a parameter override.
+# Run the "Move to Waypoint" Objective with the waypoint defined as a parameter override.
 
 # Copyright 2023 Picknik Inc.
 #
@@ -39,7 +39,7 @@
 
 
 def main():
-    __OBJECTIVE_NAME = "Move to Joint State"
+    __OBJECTIVE_NAME = "Move to Waypoint"
 
     parser = argparse.ArgumentParser()
     parser.add_argument("waypoint_name", type=str, help="Name of waypoint to move to.")
@@ -50,7 +50,7 @@ def main():
     waypoint_override.description.name = "waypoint_name"
     waypoint_override.description.type = BehaviorParameterDescription.TYPE_STRING
     waypoint_override.string_value = args.waypoint_name
-    waypoint_override.behavior_namespaces = ["move_to_joint_state"]
+    waypoint_override.behavior_namespaces = ["move_to_waypoint"]
 
     rclpy.init()