Rename Planner.plan_qpos_to_qpos/plan_qpos_to_pose methods

* Planner.plan_qpos_to_qpos => Planner.plan_qpos
* Planner.plan_qpos_to_pose => Planner.plan_pose

mplib/planner.py

@@ -520,7 +520,7 @@ def remove_object(self, name) -> bool:
         """returns true if the object was removed, false if it was not found"""
         return self.planning_world.remove_object(name)
 
-    def plan_qpos_to_qpos(
+    def plan_qpos(
         self,
         goal_qposes: list[np.ndarray],
         current_qpos: np.ndarray,
@@ -617,7 +617,7 @@ def _transform_goal_to_wrt_base(self, goal_pose: Pose) -> Pose:
         """Converts goal pose from T_world_goal to T_base_goal"""
         return self.robot.get_base_pose().inv() * goal_pose
 
-    def plan_qpos_to_pose(
+    def plan_pose(
         self,
         goal_pose: Pose,
         current_qpos: np.ndarray,
@@ -675,7 +675,7 @@ def plan_qpos_to_pose(
             for i in range(len(goal_qpos)):  # type: ignore
                 print(goal_qpos[i])  # type: ignore
 
-        return self.plan_qpos_to_qpos(
+        return self.plan_qpos(
             goal_qpos,  # type: ignore
             current_qpos,
             time_step=time_step,
@@ -708,7 +708,7 @@ def plan_screw(
         Args:
             goal_pose: pose of the goal
             current_qpos: current joint configuration (either full or move_group joints)
-            qpos_step: size of the random step for RRT
+            qpos_step: size of the random step
             time_step: time step for the discretization
             wrt_world: if True, interpret the target pose with respect to the
                 world frame instead of the base frame