docs(fix): resolve stale jointset references and joints() forward-ref warning#556
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… warning `jointset()` was renamed to `jindex_set()` back in 2022 (f3bc139) - the tests were updated then, but arm_ets.rst's :members: list and two docstring examples inside _ETS.py (BaseETS.jindex_set/.jindices) were never updated, still calling a method that hasn't existed for three years. Also fixed BaseETS.joints()'s return type: `-> list[ET]` referenced the concrete 3D `ET` class, which _ETS.py never imports (it only imports the shared `BaseET` - correct, since this method lives on the base class shared by both ETS and ETS2). Under `from __future__ import annotations` this doesn't error at runtime, but sphinx_autodoc_typehints tries to resolve it for docs and fails, producing "name 'ET' is not defined" for both ETS.ETS.joints and ETS2.ETS2.joints (same inherited method). Corrected to `list[BaseET]`, matching the class's own actual type surface. `data()`/`__getitem__`'s @overload stubs also reference bare `ET`, but didn't warn (their `self: "ETS"` pins the concrete type in a way Sphinx apparently doesn't try to resolve the same way) - left alone rather than touching real overload signatures without a demonstrated warning to fix. Verified: full suite green (620 passed, 72 skipped); Sphinx build warnings down from 8 to 4 (KinematicCache, SensorBase, and a guarded matplotlib Color import remain - unrelated, left for another pass). Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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Summary
jointset()was renamed tojindex_set()back in 2022 (f3bc1392) — the tests were updated then, butarm_ets.rst's:members:list and two docstring examples inside_ETS.py(BaseETS.jindex_set/.jindices) were never updated, still referencing a method that hasn't existed for three years.BaseETS.joints()'s return type:-> list[ET]referenced the concrete 3DETclass, which_ETS.pynever imports (it only imports the sharedBaseET— correct, since this method lives on the base class shared by bothETSandETS2).sphinx_autodoc_typehintsfails to resolve it, producing "name 'ET' is not defined" for bothETS.ETS.jointsandETS2.ETS2.joints(same inherited method). Corrected tolist[BaseET].9922d07d"resolve reST syntax and structural Sphinx build warnings" commit as well — turned out its entire scope is already satisfied onmain(theeta→param/axis→kindrenames and the ET/ETS package split all had to rewrite the same docstring blocks it would have fixed, and did so correctly formatted;docs/intro-restructureindependently already covered theconf.py/template fixes). No changes needed there.Test plan
KinematicCache,SensorBase, a guarded matplotlibColorimport — unrelated, pre-existing, left for another pass).