Fix incorrect Docstring in PlanMotion

compas-dev · Nov 6, 2024 · 84cbf3e · 84cbf3e
1 parent 2393472
commit 84cbf3e
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Showing 2 changed files with 2 additions and 5 deletions.
diff --git a/src/compas_fab/backends/interfaces/backend_features.py b/src/compas_fab/backends/interfaces/backend_features.py
@@ -393,13 +393,12 @@ def iter_inverse_kinematics(self, target, robot_cell_state=None, group=None, opt
 class PlanMotion(BackendFeature):
     """Mix-in interface for implementing a planner's plan motion feature."""
 
-    def plan_motion(self, robot, target, start_state=None, group=None, options=None):
+    def plan_motion(self, target, start_state, group=None, options=None):
+        # type: (Target, RobotCellState, Optional[str], Optional[dict]) -> JointTrajectory
         """Calculates a motion path.
 
         Parameters
         ----------
-        robot : :class:`compas_fab.robots.Robot`
-            The robot instance for which the motion path is being calculated.
         target : :class:`compas_fab.robots.Target`
             The goal for the robot to achieve.
         start_state : :class:`compas_fab.robots.RobotCellState`

diff --git a/src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py b/src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py
@@ -64,8 +64,6 @@ def plan_motion(self, target, start_state, group=None, options=None):
 
         Parameters
         ----------
-        robot : :class:`compas_fab.robots.Robot`
-            The robot instance for which the motion plan is being calculated.
         target : :class:`compas_fab.robots.Target`
             The goal for the robot to achieve.
         start_state : :class:`compas_fab.robots.RobotCellState`