Merge branch 'iron' into mergify/bp/iron/pr-2387

README.md

@@ -12,7 +12,7 @@ The [MoveIt Motion Planning Framework for ROS 2](http://moveit.ros.org). For the
 
 ## Getting Started
 
-See our extensive [Tutorials and Documentation](https://moveit.picknik.ai/)
+See our extensive [Tutorials and Documentation](https://moveit.picknik.ai/).
 
 ## Install
 
@@ -36,15 +36,15 @@ This open source project is maintained by supporters from around the world — s
 </a>
 
 [PickNik Inc](https://picknik.ai/) is leading the development of MoveIt.
-If you would like to support this project, please contact [email protected]
+If you would like to support this project, please contact [email protected].
 
 <a href="http://rosin-project.eu">
   <img src="http://rosin-project.eu/wp-content/uploads/rosin_ack_logo_wide.png"
        alt="rosin_logo" height="60" >
 </a>
 
 The port to ROS 2 was supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
-More information: <a href="http://rosin-project.eu">rosin-project.eu</a>
+More information: <a href="http://rosin-project.eu">rosin-project.eu</a>.
 
 <img src="http://rosin-project.eu/wp-content/uploads/rosin_eu_flag.jpg"
      alt="eu_flag" height="45" align="left" >
@@ -53,7 +53,7 @@ This project has received funding from the European Union’s Horizon 2020
 research and innovation programme under grant agreement no. 732287.
 
 ## Generate API Doxygen Documentation
-See [How To Generate API Doxygen Reference Locally](https://moveit.picknik.ai/main/doc/how_to_guides/how_to_generate_api_doxygen_locally.html)
+See [How To Generate API Doxygen Reference Locally](https://moveit.picknik.ai/main/doc/how_to_guides/how_to_generate_api_doxygen_locally.html).
 
 # Buildfarm
 | Package | Humble Binary | Iron Binary | Rolling Binary |

moveit_py/src/moveit/moveit_core/robot_trajectory/robot_trajectory.cpp

@@ -140,13 +140,13 @@ void init_robot_trajectory(py::module& m)
            py::arg("path_tolerance") = 0.1, py::arg("resample_dt") = 0.1, py::arg("min_angle_change") = 0.001,
            R"(
            Adds time parameterization to the trajectory using the Time-Optimal Trajectory Generation (TOTG) algorithm.
+
            Args:
                velocity_scaling_factor (float): The velocity scaling factor.
                acceleration_scaling_factor (float): The acceleration scaling factor.
                path_tolerance (float): The path tolerance to use for time parameterization (default: 0.1).
                resample_dt (float): The time step to use for time parameterization (default: 0.1).
                min_angle_change (float): The minimum angle change to use for time parameterization (default: 0.001).
-           )
            Returns:
                bool: True if the trajectory was successfully retimed, false otherwise.
            )")
@@ -155,26 +155,33 @@ void init_robot_trajectory(py::module& m)
            py::arg("overshoot_threshold") = 0.01,
            R"(
            Applies Ruckig smoothing to the trajectory.
+
            Args:
                velocity_scaling_factor (float): The velocity scaling factor.
                acceleration_scaling_factor (float): The acceleration scaling factor.
                mitigate_overshoot (bool): Whether to mitigate overshoot during smoothing (default: false).
-               overshoot_threshold (float): The maximum allowed overshoot during smoothing (default: 0.01
-           )
+               overshoot_threshold (float): The maximum allowed overshoot during smoothing (default: 0.01).
            Returns:
                bool: True if the trajectory was successfully retimed, false otherwise.
            )")
       .def("get_robot_trajectory_msg", &moveit_py::bind_robot_trajectory::get_robot_trajectory_msg,
            py::arg("joint_filter") = std::vector<std::string>(),
            R"(
            Get the trajectory as a moveit_msgs.msg.RobotTrajectory message.
+
+           Args:
+               joint_filter (list[string]): List of joints to consider in creating the message. If empty, uses all joints.
            Returns:
                moveit_msgs.msg.RobotTrajectory: A ROS robot trajectory message.
            )")
       .def("set_robot_trajectory_msg", &moveit_py::bind_robot_trajectory::set_robot_trajectory_msg,
            py::arg("robot_state"), py::arg("msg"),
            R"(
            Set the trajectory from a moveit_msgs.msg.RobotTrajectory message.
+
+           Args:
+               robot_state (:py:class:`moveit_py.core.RobotState`): The reference robot starting state.
+               msg (moveit_msgs.msg.RobotTrajectory): A ROS robot trajectory message.
            )");
   // TODO (peterdavidfagan): support other methods such as appending trajectories
 }