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docs(fix): resolve stale jointset references and joints() forward-ref warning #556

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Merged
petercorke merged 1 commit into from
Jul 20, 2026
Merged

docs(fix): resolve stale jointset references and joints() forward-ref warning #556

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4 changes: 2 additions & 2 deletions docs/source/arm_ets.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,7 @@ ETS - 3D
--------

.. autoclass:: roboticstoolbox.ets.ETS.ETS
:members: __str__, __repr__, __mul__, __getitem__, n, m, structure, joints, jointset, split, inv, compile, insert, fkine, jacob0, jacobe, hessian0, hessiane
:members: __str__, __repr__, __mul__, __getitem__, n, m, structure, joints, jindex_set, split, inv, compile, insert, fkine, jacob0, jacobe, hessian0, hessiane
:undoc-members:
:show-inheritance:
:member-order: bysource
Expand All @@ -79,7 +79,7 @@ ETS - 2D
--------

.. autoclass:: roboticstoolbox.ets.ETS2.ETS2
:members: __str__, __repr__, __mul__, __getitem__, n, m, structure, joints, jointset, split, inv, compile, insert, fkine, jacob0, jacobe
:members: __str__, __repr__, __mul__, __getitem__, n, m, structure, joints, jindex_set, split, inv, compile, insert, fkine, jacob0, jacobe
:undoc-members:
:show-inheritance:

8 changes: 4 additions & 4 deletions src/roboticstoolbox/ets/_ETS.py
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Expand Up @@ -281,12 +281,12 @@ def joint_idx(self) -> list[int]:

return np.where([e.isjoint for e in self])[0] # type: ignore

def joints(self) -> list[ET]:
def joints(self) -> list[BaseET]:
"""
Get a list of the variable ETs with this ETS

:returns: list of ETs that are joints
:rtype: list[ET]
:rtype: list[BaseET]

Examples
--------
Expand Down Expand Up @@ -372,7 +372,7 @@ def jindex_set(self) -> set[int]: #

>>> from roboticstoolbox import ET
>>> e = ET.Rz(jindex=1) * ET.tx(jindex=2) * ET.Rz(jindex=1) * ET.tx(1)
>>> e.jointset()
>>> e.jindex_set()

"""

Expand All @@ -393,7 +393,7 @@ def jindices(self) -> NDArray:

>>> from roboticstoolbox import ET
>>> e = ET.Rz(jindex=1) * ET.tx(jindex=2) * ET.Rz(jindex=1) * ET.tx(1)
>>> e.jointset()
>>> e.jindices

"""

Expand Down