desired -> target

Author: kevin-thankyou-lin

robosuite/devices/mjgui.py

@@ -116,16 +116,16 @@ def _reset_internal_state(self):
             target_mat = self.env.sim.data.site_xmat[self.env.sim.model.site_name2id(site_name)]
             set_mocap_pose(self.env.sim, target_pos, target_mat, f"{target_name_prefix}_eef_target")
 
-    def input2action(self, goal_update_mode="desired") -> Dict[str, np.ndarray]:
+    def input2action(self, goal_update_mode="target") -> Dict[str, np.ndarray]:
         """
         Uses mocap body poses to determine action for robot. Obtain input_type
         (i.e. absolute actions or delta actions) and input_ref_frame (i.e. world frame, base frame or eef frame)
         from the controller itself.
 
         """
         assert (
-            goal_update_mode == "desired"
-        ), "goal_update_mode must be 'desired' for MJGUI: targets are based off the pose of the mocap body."
+            goal_update_mode == "target"
+        ), "goal_update_mode must be 'target' for MJGUI: targets are based off the pose of the mocap body."
         # TODO: unify this logic to be independent from controller type.
         action: Dict[str, np.ndarray] = {}
         gripper_dof = self.env.robots[0].gripper[self.active_end_effector].dof