Rebrand to MoveIt Pro (#182)

PickNikRobotics · Jan 25, 2024 · 2fc10c2 · 2fc10c2
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diff --git a/.env b/.env
@@ -1,13 +1,13 @@
-# Defaults for the MoveIt Studio docker compose agent services.
+# Defaults for the MoveIt Pro docker compose agent services.
 
 # Robot configuration package to launch
 STUDIO_CONFIG_PACKAGE=picknik_ur_mock_hw_config
 
-# MoveIt Studio version tag
+# MoveIt Pro version tag
 # Be careful! Changing this without understanding the consequences may break your installation. 
 STUDIO_DOCKER_TAG=main
 
-# Licensing -- enter your MoveIt Studio license below
+# Licensing -- enter your MoveIt Pro license below
 STUDIO_LICENSE_KEY=
 
 # User name and UID to use when building the container

diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -4,4 +4,4 @@ be under the 3-Clause BSD License, as dictated by that
 
 # Contributing to this Repository
 
-Thanks for getting involved! If you want to add to this repository, please reach out to studio.maintainers@picknik.ai.
+Thanks for getting involved! If you want to add to this repository, please reach out to support@picknik.ai.
diff --git a/Dockerfile b/Dockerfile
@@ -1,19 +1,19 @@
-# Docker image for extending MoveIt Studio with a custom overlay.
+# Docker image for extending MoveIt Pro with a custom overlay.
 #
 # Example build command (with defaults):
 #
 # docker build -f ./Dockerfile .
 #
 
-# Specify the MoveIt Studio release to build on top of.
+# Specify the MoveIt Pro release to build on top of.
 ARG MOVEIT_STUDIO_BASE_IMAGE
 ARG USERNAME=studio-user
 ARG USER_UID=1000
 ARG USER_GID=1000
 
-#####################################################
-# Starting from the specified MoveIt Studio release #
-#####################################################
+##################################################
+# Starting from the specified MoveIt Pro release #
+##################################################
 # The image tag is specified in the argument itself.
 # hadolint ignore=DL3006
 FROM ${MOVEIT_STUDIO_BASE_IMAGE} as base
@@ -51,7 +51,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 
 # Install additional dependencies
 # You can also add any necessary apt-get install, pip install, etc. commands at this point.
-# NOTE: The /opt/overlay_ws folder contains MoveIt Studio binary packages and the source file.
+# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     --mount=type=cache,target=/var/lib/apt,sharing=locked \
@@ -62,7 +62,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
       --ignore-src
 
 # Remove duplicated serial dependency install files, otherwise there will be a build error.
-# NOTE: This can be removed when MoveIt Studio fully separates core and hardware capabilities.
+# NOTE: This can be removed when MoveIt Pro fully separates core and hardware capabilities.
 WORKDIR /opt/overlay_ws
 RUN rm -rf build/serial install/serial
 

diff --git a/README.md b/README.md
@@ -1,19 +1,19 @@
-# MoveIt Studio Workspace for Universal Robots Arms
+# MoveIt Pro Workspace for Universal Robots Arms
 
-This is a sample user workspace for running MoveIt Studio with a generic Universal Robots (UR) arm.
-For more information, refer to the [MoveIt Studio Documentation](https://docs.picknik.ai/).
+This is a sample user workspace for running MoveIt Pro with a generic Universal Robots (UR) arm.
+For more information, refer to the [MoveIt Pro Documentation](https://docs.picknik.ai/).
 
-Instructions for building your own MoveIt Studio configuration can be found [in the getting started guides](https://docs.picknik.ai/en/stable/getting_started/getting_started.html).
+Instructions for building your own MoveIt Pro configuration can be found [in the getting started guides](https://docs.picknik.ai/en/stable/getting_started/getting_started.html).
 
-MoveIt Studio can be used with real robots and full simulators such as Gazebo and NVIDIA Isaac Sim.
+MoveIt Pro can be used with real robots and full simulators such as Gazebo and NVIDIA Isaac Sim.
 For testing purposes, you can also use the [ROS 2 Control Mock Components](https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html), which is what this repo is configured to use.
 
-This workspace offers a reasonable starting point for those users looking to develop with MoveIt Studio using custom base and site configurations.
+This workspace offers a reasonable starting point for those users looking to develop with MoveIt Pro using custom base and site configurations.
 For more information refer to the [online documentation](https://docs.picknik.ai/en/stable/).
 
 ## Universal Robots Configuration Packages
 
-This workspace contains several MoveIt Studio configuration packages for UR arms that inherit from each other for different applications.
+This workspace contains several MoveIt Pro configuration packages for UR arms that inherit from each other for different applications.
 
 ```mermaid
 graph TB

diff --git a/docker-compose.yaml b/docker-compose.yaml
@@ -1,12 +1,12 @@
-# Docker Compose file for user overlays of the MoveIt Studio images.
+# Docker Compose file for user overlays of the MoveIt Pro images.
 
 version: "3.9"
 
 services:
   # Sets common properties for other services. Should not be instantiated directly.
   base:
-    # Extend the installed MoveIt Studio docker compose file.
-    # Change this to match your environment, if MoveIt Studio was installed to a different location.
+    # Extend the installed MoveIt Pro docker compose file.
+    # Change this to match your environment, if MoveIt Pro was installed to a different location.
     extends:
       file: ${HOME}/moveit_studio/docker-compose.yaml
       service: base
@@ -23,7 +23,7 @@ services:
     environment:
       - USER_WS=/home/${USERNAME:-studio-user}/user_overlay_ws
 
-  # Starts the MoveIt Studio Agent and the Bridge between the Agent and the Web UI
+  # Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI
   agent_bridge:
     extends: base
     privileged: true
@@ -104,7 +104,7 @@ services:
       - ./install/:/home/${USERNAME:-studio-user}/user_overlay_ws/install:rw
       - ./log/:/home/${USERNAME:-studio-user}/user_overlay_ws/log:rw
       - ./.ccache/:/home/${USERNAME:-studio-user}/.ccache:rw
-      - ${HOME}/.ros/log_moveit_studio:/home/${USERNAME:-studio-user}/.ros/log
+      - ${HOME}/.ros/log_moveit_pro:/home/${USERNAME:-studio-user}/.ros/log
       # Allow access to host hardware e.g. RealSense cameras
       - /dev:/dev
     command: sleep infinity

diff --git a/src/external_dependencies/picknik_accessories b/src/external_dependencies/picknik_accessories
diff --git a/src/picknik_ur_base_config/README.md b/src/picknik_ur_base_config/README.md
@@ -1,5 +1,5 @@
 # picknik_ur_base_config
 
-A MoveIt Studio base configuration for PickNik's Universal Robots (UR) arms.
+A MoveIt Pro base configuration for PickNik's Universal Robots (UR) arms.
 
-For detailed documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)
+For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)
diff --git a/src/picknik_ur_base_config/config/cameras.yaml b/src/picknik_ur_base_config/config/cameras.yaml
@@ -1,5 +1,5 @@
 # Placeholders for camera configuration.
-# Cameras are not a requirement for running MoveIt Studio, but this is provided as an
+# Cameras are not a requirement for running MoveIt Pro, but this is provided as an
 # example for plugging in Realsense D415 camera topics to the application.
 
 - scene_camera:

diff --git a/src/picknik_ur_base_config/config/config.yaml b/src/picknik_ur_base_config/config/config.yaml
@@ -1,10 +1,10 @@
 ###############################################################
 #
-#  This configures the robot to work with moveit studio
+#  This configures the robot to work with MoveIt Pro
 #
 ###############################################################
 
-# Baseline hardware configuration parameters for MoveIt Studio.
+# Baseline hardware configuration parameters for MoveIt Pro.
 # [Required]
 hardware:
   # Used by the ur_description package to set kinematics and geometry for a specific robot type.
@@ -19,16 +19,16 @@ hardware:
   # [Required]
   simulated: ${MOCK_HARDWARE:-true}
 
-  # If the MoveIt Studio Agent should launch the ros2 controller node.
+  # If the MoveIt Pro Agent should launch the ros2 controller node.
   # [Optional, default=True]
   launch_control_node: True
 
-  # If the MoveIt Studio Agent should launch the robot state publisher.
+  # If the MoveIt Pro Agent should launch the robot state publisher.
   # This should be false if you are launching the robot state publisher as part of drivers.
   # [Optional, default=True]
   launch_robot_state_publisher: True
 
-  # If the MoveIt Studio Agent should launch cameras when simulated.
+  # If the MoveIt Pro Agent should launch cameras when simulated.
   # This must be False when using mock hardware, since there are no cameras simulated.
   # [Optional, default=True]
   launch_cameras_when_simulated: False
@@ -109,7 +109,7 @@ ros_global_params:
   # [Optional, default=False]
   use_sim_time: False
 
-# Configure additional, optional features in MoveIt Studio.
+# Configure additional, optional features in MoveIt Pro.
 # [Optional]
 optional_feature_params:
   # Whether or not to use the Formant bridge for over-the-internet comms.
@@ -166,7 +166,7 @@ moveit_params:
     allowed_goal_duration_margin: 5.0
     allowed_start_tolerance: 0.01
 
-# Additional configurable parameters for the MoveIt Studio user interface.
+# Additional configurable parameters for the MoveIt Pro user interface.
 # [Required]
 ui_params:
   # By default, we use a frame named "grasp_link" for tool grasp pose rendering and planning.
@@ -179,7 +179,7 @@ ros2_control:
   config:
     package: "picknik_ur_base_config"
     path: "config/control/picknik_ur.ros2_control.yaml"
-  # MoveIt Studio will load and activate these controllers at start up to ensure they are available.
+  # MoveIt Pro will load and activate these controllers at start up to ensure they are available.
   # If not specified, it is up to the user to ensure the appropriate controllers are active and available
   # for running the application.
   # [Optional, default=[]]
@@ -196,7 +196,7 @@ ros2_control:
     - "joint_trajectory_controller"
     - "admittance_controller_open_door"
     - "joint_trajectory_controller_chained_open_door"
-  # Any controllers here will not be spawned by MoveIt Studio.
+  # Any controllers here will not be spawned by MoveIt Pro.
   # [Optional, default=[]]
   controllers_not_managed: []
   # Optionally configure remapping rules to let multiple controllers receive commands on the same topic.
@@ -215,7 +215,7 @@ objectives:
   # List of plugins for loading custom behaviors.
   # [Required]
   behavior_loader_plugins:
-    # This plugin will load the core MoveIt Studio behaviors.
+    # This plugin will load the core MoveIt Pro Behaviors.
     # Add additional plugin loaders as needed.
     core:
       - "moveit_studio::behaviors::CoreBehaviorsLoader"

diff --git a/src/picknik_ur_base_config/description/gripper_and_camera.xacro b/src/picknik_ur_base_config/description/gripper_and_camera.xacro
@@ -7,7 +7,6 @@
   <xacro:include filename="$(find picknik_accessories)/descriptions/brackets/ur_realsense_camera_adapter/picknik_ur_camera_adapter.urdf.xacro"/>
   <xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro"/>
 
-  <!-- Create base link -->
   <!-- We use a link name called grasp_link to perform built-in Objectives such as inspect surface without modification. -->
   <link name="grasp_link"/>
   <link name="tool0" />

diff --git a/src/picknik_ur_base_config/package.xml b/src/picknik_ur_base_config/package.xml
@@ -5,7 +5,7 @@
 
   <description>Base configuration package for Picknik's UR robot arms</description>
 
-  <maintainer email="studio.maintainers@picknik.ai">MoveIt Studio Maintainer</maintainer>
+  <maintainer email="support@picknik.ai">MoveIt Pro Maintainer</maintainer>
 
   <license>BSD-3-Clause</license>
 

diff --git a/src/picknik_ur_gazebo_config/README.md b/src/picknik_ur_gazebo_config/README.md
@@ -1,5 +1,5 @@
 # picknik_ur_gazebo_config
 
-A MoveIt Studio site configuration for a UR5e simulated in Gazebo, based on the `picknik_ur_base_config` package.
+A MoveIt Pro site configuration for a UR5e simulated in Gazebo, based on the `picknik_ur_base_config` package.
 
-For further documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)
+For further documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)
diff --git a/src/picknik_ur_gazebo_config/config/config.yaml b/src/picknik_ur_gazebo_config/config/config.yaml
@@ -27,11 +27,11 @@ hardware:
   # Gazebo starts its own controller manager through the ros2_control plugin, so set this to False
   launch_control_node: False
 
-  # If the MoveIt Studio Agent should launch the robot state publisher
+  # If the MoveIt Pro Agent should launch the robot state publisher
   # This should be false if you are launching the robot state publisher as part of drivers.
   launch_robot_state_publisher: True
 
-  # If the MoveIt Studio Agent should launch cameras when simulated.
+  # If the MoveIt Pro Agent should launch cameras when simulated.
   launch_cameras_when_simulated: True
 
   # The robot's IP address

diff --git a/src/picknik_ur_gazebo_config/package.xml b/src/picknik_ur_gazebo_config/package.xml
@@ -5,7 +5,7 @@
 
   <description>Site configuration package for the UR5e in PickNik's space station world simulated by Gazebo.</description>
 
-  <maintainer email="studio.maintainers@picknik.ai">MoveIt Studio Maintainer</maintainer>
+  <maintainer email="support@picknik.ai">MoveIt Pro Maintainer</maintainer>
 
   <license>BSD-3-Clause</license>
 

diff --git a/src/picknik_ur_gazebo_scan_and_plan_config/README.md b/src/picknik_ur_gazebo_scan_and_plan_config/README.md
@@ -1,5 +1,5 @@
 # picknik_ur_gazebo_scan_and_plan_config
 
-A MoveIt Studio site configuration for a UR5e simulated in Gazebo to show "scan and plan" applications, based on the `picknik_ur_gazebo_config` package.
+A MoveIt Pro site configuration for a UR5e simulated in Gazebo to show "scan and plan" applications, based on the `picknik_ur_gazebo_config` package.
 
-For further documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)
+For further documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)
diff --git a/src/picknik_ur_gazebo_scan_and_plan_config/package.xml b/src/picknik_ur_gazebo_scan_and_plan_config/package.xml
@@ -5,7 +5,7 @@
 
   <description>Site configuration package for the UR5e simulated in Gazebo to show "scan and plan" applications.</description>
 
-  <maintainer email="studio.maintainers@picknik.ai">MoveIt Studio Maintainer</maintainer>
+  <maintainer email="support@picknik.ai">MoveIt Pro Maintainer</maintainer>
 
   <license>BSD-3-Clause</license>
 

diff --git a/src/picknik_ur_mock_hw_config/README.md b/src/picknik_ur_mock_hw_config/README.md
@@ -1,5 +1,5 @@
 # picknik_ur_mock_hw_config
 
-A MoveIt Studio configuration to simulate a UR arm using mock hardware.
+A MoveIt Pro configuration to simulate a UR arm using mock hardware.
 
-For detailed documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)
+For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)
diff --git a/src/picknik_ur_mock_hw_config/package.xml b/src/picknik_ur_mock_hw_config/package.xml
@@ -5,7 +5,7 @@
 
   <description>Configuration package for a UR arm that can be simulated with mock hardware</description>
 
-  <maintainer email="studio.maintainers@picknik.ai">MoveIt Studio Maintainer</maintainer>
+  <maintainer email="support@picknik.ai">MoveIt Pro Maintainer</maintainer>
 
   <license>BSD-3-Clause</license>
 

diff --git a/src/picknik_ur_site_config/README.md b/src/picknik_ur_site_config/README.md
@@ -1,5 +1,5 @@
 # picknik_ur_site_config
 
-A MoveIt Studio site configuration for a UR arm based on the `picknik_ur_base_config` package.
+A MoveIt Pro site configuration for a UR arm based on the `picknik_ur_base_config` package.
 
-For further documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)
+For further documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)
diff --git a/src/picknik_ur_site_config/package.xml b/src/picknik_ur_site_config/package.xml
@@ -5,7 +5,7 @@
 
   <description>Site configuration package for a UR arm that can be simulated with mock hardware</description>
 
-  <maintainer email="studio.maintainers@picknik.ai">MoveIt Studio Maintainer</maintainer>
+  <maintainer email="support@picknik.ai">MoveIt Pro Maintainer</maintainer>
 
   <license>BSD-3-Clause</license>
 

diff --git a/src/picknik_ur_studio_integration_testing/package.xml b/src/picknik_ur_studio_integration_testing/package.xml
@@ -3,8 +3,8 @@
 <package format="3">
   <name>picknik_ur_studio_integration_testing</name>
   <version>3.0.0</version>
-  <description>Integration tests for UR with MoveIt Studio.</description>
-  <maintainer email="studio.maintainers@picknik.ai">MoveIt Studio Maintainer</maintainer>
+  <description>Integration tests for UR with MoveIt Pro.</description>
+  <maintainer email="support@picknik.ai">MoveIt Pro Maintainer</maintainer>
 
   <license>BSD-3-Clause</license>
 

diff --git a/...g/picknik_ur_studio_integration_testing/generate_agent_plus_drivers_launch_description.py b/...g/picknik_ur_studio_integration_testing/generate_agent_plus_drivers_launch_description.py
@@ -114,7 +114,7 @@ def generate_agent_plus_drivers_launch_description(
     )
 
     # The agent looks for objective XML files in the user folder
-    # <HOME>/.config/moveit_studio/objectives
+    # <HOME>/.config/moveit_pro/objectives
     # This folder is created by the REST API which is executed before the agent.
     # While testing the agent alone, this folder does not exist so we need to
     # point the agent to an alternate set of locations defined by test_objective_path.
@@ -124,7 +124,7 @@ def generate_agent_plus_drivers_launch_description(
         system_config_parser.get_objective_library_paths() + [str(test_objective_path)]
     )
 
-    # Get launch description for Studio Agent nodes
+    # Get launch description for MoveIt Pro Agent nodes
     agent_launch_description = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
@@ -141,7 +141,7 @@ def generate_agent_plus_drivers_launch_description(
         }.items(),
     )
 
-    # Get launch description for Studio robot driver nodes
+    # Get launch description for MoveIt Pro robot driver nodes
     robot_driver_launch_description = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
Original file line number	Diff line number	Diff line change
Expand Up		@@ -4,4 +4,4 @@ be under the 3-Clause BSD License, as dictated by that

		# Contributing to this Repository

		Thanks for getting involved! If you want to add to this repository, please reach out to studio.maintainers@picknik.ai.
		Thanks for getting involved! If you want to add to this repository, please reach out to support@picknik.ai.