From c290f52ff2bd1d7be7cf0466162ce08aba528ee5 Mon Sep 17 00:00:00 2001 From: mfikih Date: Wed, 15 Jul 2026 16:27:20 +0900 Subject: [PATCH] renaming to wmx-r2 --- README.md | 6 +++--- movensys_sample/doc/1c_robopoly_real.md | 4 ++-- movensys_sample/doc/run_robopoly.sh | 16 ++++++++-------- 3 files changed, 13 insertions(+), 13 deletions(-) diff --git a/README.md b/README.md index 35ce298..fe050ca 100644 --- a/README.md +++ b/README.md @@ -8,7 +8,7 @@ the manipulator from natural language. ## Overview -This repository sits on top of the WMX ROS 2 manipulator stack and gives it +This repository sits on top of the WMX R2 manipulator stack and gives it a higher-level reasoning layer: - **VLM service** — FastAPI server wrapping a vLLM-hosted Gemma 4 model @@ -146,8 +146,8 @@ grep '\[timing\]' baseline.log - [movensys-manipulator](https://github.com/movensys/movensys-manipulator) — ROS 2 manipulator stack driven by this layer - [movensys-simulation](https://github.com/movensys/movensys-simulation) — Isaac Sim scenes used by the demos -- [wmx-ros2](https://github.com/movensys/wmx-ros2) — Core WMX motion control packages -- [wmx-ros2-doc](https://github.com/movensys/wmx-ros2-doc) — WMX ROS 2 documentation site +- [wmx-r2](https://github.com/movensys/wmx-r2) — Core WMX motion control packages +- [wmx-r2-doc](https://github.com/movensys/wmx-r2-doc) — WMX R2 documentation site ## License diff --git a/movensys_sample/doc/1c_robopoly_real.md b/movensys_sample/doc/1c_robopoly_real.md index a4318f2..3aa45ea 100644 --- a/movensys_sample/doc/1c_robopoly_real.md +++ b/movensys_sample/doc/1c_robopoly_real.md @@ -1,10 +1,10 @@ # Running Robopoly Game ## 1. Execution Procedure -### Step 1: Launch wmx-ros2 (Terminal 1) +### Step 1: Launch wmx-r2 (Terminal 1) ```bash cd ~/workspaces/movensys-intelligence/movensys_sample/doc -./run_robopoly.sh wmx-ros2 +./run_robopoly.sh wmx-r2 ``` diff --git a/movensys_sample/doc/run_robopoly.sh b/movensys_sample/doc/run_robopoly.sh index e1d567a..7da5052 100755 --- a/movensys_sample/doc/run_robopoly.sh +++ b/movensys_sample/doc/run_robopoly.sh @@ -3,17 +3,17 @@ set -e MODE=${1:-} case "$MODE" in - wmx-ros2|build_nvidia|build_intel_vllm|build_intel|run) ;; + wmx-r2|build_nvidia|build_intel_vllm|build_intel|run) ;; *) - echo "Usage: $0 {wmx-ros2|build_nvidia|build_intel_vllm|build_intel|run}" >&2 - echo " wmx-ros2 Launch the wmx-ros2 manipulator driver (foreground, prompts for sudo)" >&2 + echo "Usage: $0 {wmx-r2|build_nvidia|build_intel_vllm|build_intel|run}" >&2 + echo " wmx-r2 Launch the wmx-r2 manipulator driver (foreground, prompts for sudo)" >&2 echo " build_nvidia Rebuild docker images and start persistent containers (NVIDIA GPU)" >&2 echo " build_intel_vllm Down all + drop caches + build/run vllm only (Intel GPU)" >&2 echo " build_intel Build remaining services: vectordb, vlm, whisper, manipulator, robopoly (Intel GPU)" >&2 echo " run Start runtime containers + ROS launches in a tmux session" >&2 echo "" >&2 echo "Recommended order (each in its own terminal):" >&2 - echo " Terminal 1: $0 wmx-ros2" >&2 + echo " Terminal 1: $0 wmx-r2" >&2 echo " Terminal 2: $0 build_nvidia (NVIDIA GPU, only when code/images change)" >&2 echo " Terminal 2: $0 build_intel_vllm (Intel GPU, only when code/images change)" >&2 echo " Terminal 2: $0 build_intel (Intel GPU, after build_intel_vllm)" >&2 @@ -133,10 +133,10 @@ if [[ "$MODE" == "build_intel" ]]; then fi # ============================================================================ -# WMX-ROS2 MODE: foreground manipulator driver, owns its own terminal + sudo +# WMX R2 MODE: foreground manipulator driver, owns its own terminal + sudo # ============================================================================ -if [[ "$MODE" == "wmx-ros2" ]]; then - echo "==> [wmx-ros2] launching manipulator driver" +if [[ "$MODE" == "wmx-r2" ]]; then + echo "==> [wmx-r2] launching manipulator driver" exec sudo --preserve-env=PATH \ --preserve-env=AMENT_PREFIX_PATH \ --preserve-env=COLCON_PREFIX_PATH \ @@ -149,7 +149,7 @@ if [[ "$MODE" == "wmx-ros2" ]]; then --preserve-env=RMW_IMPLEMENTATION \ bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash \ && source ${HOME}/workspaces/movensys_ws/install/setup.bash \ - && ros2 launch wmx_ros2_package wmx_ros2_cr3a_manipulator.launch.py use_sim_time:=false" + && ros2 launch wmx_r2_package wmx_r2_cr3a_manipulator.launch.py use_sim_time:=false" fi # ============================================================================