Merge pull request #414 from compas-dev/yck011522/issue413

Clean up the broken Class and Function links in docstrings
compas-dev · Apr 19, 2024 · d49db17 · d49db17
2 parents c62c368 + a809746
commit d49db17
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diff --git a/src/compas_fab/__init__.py b/src/compas_fab/__init__.py
@@ -12,18 +12,20 @@
 Robots
 ------
 
-The core features are located in the ``robots`` module with the specific backend
-implementations in the ``backends`` modules:
+The core features are located in the ``robots`` module.
+The backend implementations for motion planning are located in the ``backends`` module.
 
 .. toctree::
-    :maxdepth: 1
+    :maxdepth: 2
 
     compas_fab.robots
     compas_fab.backends
 
 CAD integration
 ---------------
 
+The following modules provide functions for use within different CAD environments.
+
 .. toctree::
     :maxdepth: 1
 

diff --git a/src/compas_fab/backends/interfaces/backend_features.py b/src/compas_fab/backends/interfaces/backend_features.py
@@ -141,7 +141,7 @@ def plan_cartesian_motion(self, robot, frames_WCF, start_configuration=None, gro
             The robot instance for which the cartesian motion path is being calculated.
         frames_WCF: list of :class:`compas.geometry.Frame`
             The frames through which the path is defined.
-        start_configuration: :class:`Configuration`, optional
+        start_configuration: :class:`compas_robots.Configuration`, optional
             The robot's full configuration, i.e. values for all configurable
             joints of the entire robot, at the starting position.
         group: str, optional

diff --git a/src/compas_fab/backends/kinematics/analytical_plan_cartesian_motion.py b/src/compas_fab/backends/kinematics/analytical_plan_cartesian_motion.py
@@ -24,7 +24,7 @@ def plan_cartesian_motion(self, robot, frames_WCF, start_configuration=None, gro
             The robot instance for which the cartesian motion path is being calculated.
         frames_WCF : list of :class:`compas.geometry.Frame`
             The frames through which the path is defined.
-        start_configuration : :class:`Configuration`, optional
+        start_configuration : :class:`compas_robots.Configuration`, optional
             The robot's full configuration, i.e. values for all configurable
             joints of the entire robot, at the starting position.
         group : str, optional

diff --git a/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py b/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py
@@ -46,7 +46,7 @@ def plan_cartesian_motion(self, robot, frames_WCF, start_configuration=None, gro
             The robot instance for which the cartesian motion plan is being calculated.
         frames_WCF: list of :class:`compas.geometry.Frame`
             The frames through which the path is defined.
-        start_configuration: :class:`Configuration`, optional
+        start_configuration: :class:`compas_robots.Configuration`, optional
             The robot's full configuration, i.e. values for all configurable
             joints of the entire robot, at the starting position. Defaults to
             the all-zero configuration.

diff --git a/src/compas_fab/robots/planning_scene.py b/src/compas_fab/robots/planning_scene.py
@@ -119,14 +119,14 @@ def __data__(self):
 
 
 class AttachedCollisionMesh(Data):
-    """Represents a collision mesh that is attached to a :class:`Robot`'s :class:`~compas_robots.model.Link`.
+    """Represents a collision mesh that is attached to a :class:`Robot`'s :class:`compas_robots.model.Link`.
 
     Parameters
     ----------
     collision_mesh : :class:`compas_fab.robots.CollisionMesh`
         The collision mesh to be attached to the robot model.
     link_name : :obj:`str`
-        The name of the :class:`~compas_robots.model.Link` the collision mesh will be
+        The name of the :class:`compas_robots.model.Link` the collision mesh will be
         attached to.
     touch_links : :obj:`list` of :obj:`str`, optional
         The list of link names the collision mesh is allowed to touch. Defaults
@@ -139,7 +139,7 @@ class AttachedCollisionMesh(Data):
     collision_mesh : :class:`compas_fab.robots.CollisionMesh`
         The collision mesh we want to attach.
     link_name : :obj:`str`
-        The name of the :class:`~compas_robots.model.Link` the collision mesh will be
+        The name of the :class:`compas_robots.model.Link` the collision mesh will be
         attached to.
     touch_links : :obj:`list` of :obj:`str`
         The list of link names the collision mesh is allowed to touch. Defaults
@@ -348,7 +348,7 @@ def add_attached_collision_mesh(self, attached_collision_mesh, scale=False):
         ----------
         attached_collision_mesh : :class:`AttachedCollisionMesh`
             The :class:`AttachedCollisionMesh` (a :class:`CollisionMesh`
-            attached to a :class:`Robot`'s :class:`~compas_robots.model.Link`) that
+            attached to a :class:`Robot`'s :class:`compas_robots.model.Link`) that
             we want to add to the :class:`PlanningScene`.
         scale : :obj:`bool`, optional
             If ``True``, the mesh will be copied and scaled according to