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moveit · Jul 26, 2023 · 8440853 · 8440853
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diff --git a/doc/tutorials/planning_around_objects/planning_around_objects.rst b/doc/tutorials/planning_around_objects/planning_around_objects.rst
@@ -108,7 +108,7 @@ Summary
 -------
 
 - You extended the program you wrote with MoveIt to plan around an object in the scene.
-- :codedir:`Here is a copy of the full hello_moveit.cpp source<tutorials/planning_around_objects/hello_moveit.cpp>`.
+- :codedir:`Here is a copy of the full hello_moveit.cpp source<tutorials/planning_around_objects/hello_moveit_kinova.cpp>`.
 
 Further Reading
 ---------------

diff --git a/doc/tutorials/quickstart_in_rviz/launch/kinova_demo.launch.py b/doc/tutorials/quickstart_in_rviz/launch/kinova_demo.launch.py
@@ -36,7 +36,9 @@ def launch_setup(context, *args, **kwargs):
     }
 
     moveit_config = (
-        MoveItConfigsBuilder("gen3", package_name="kinova_gen3_7dof_robotiq_2f_85_moveit_config")
+        MoveItConfigsBuilder(
+            "gen3", package_name="kinova_gen3_7dof_robotiq_2f_85_moveit_config"
+        )
         .robot_description(mappings=launch_arguments)
         .planning_scene_monitor(
             publish_robot_description=True, publish_robot_description_semantic=True