slightly modified documentation to reduce number of errors

docs/source/tutorials/collision_avoidance.rst

@@ -40,7 +40,6 @@ After adding the point cloud, we can avoid collisions between the robot and the
    :dedent: 0
    :start-after: # plan_qpos_to_pose ankor
    :end-before: # plan_qpos_to_pose ankor end
-   :emphasize-lines: 5
 
 You don't need to provide the point cloud for each ``planner.plan()`` or ``planner.plan_screw()`` call. You can use  ``planner.update_point_cloud()`` to update the point cloud once it's changed.
 

docs/source/tutorials/plan_a_path.rst

@@ -46,7 +46,7 @@ The second argument is the current joint positions of all the active joints (not
 
 ``planner.plan_qpos_to_pose()`` also takes other optional arguments with default values:
 
-.. automethod:: mplib.planner.Planner.plan_qpos_to_pose
+.. automethod:: mplib.planner.Planner.plan_pose
    :no-index:
 
 Follow a path

mplib/pymp/__init__.pyi

@@ -420,7 +420,7 @@ class PlanningWorld:
         its current pose. If the object is currently attached, disallow collision
         between the object and previous touch_links.
 
-        Updates acm_ to allow collisions between attached object and touch_links.
+        Updates ``acm_`` to allow collisions between attached object and touch_links.
 
         :param name: name of the non-articulated object to attach
         :param art_name: name of the planned articulation to attach to
@@ -437,10 +437,10 @@ class PlanningWorld:
         touch_links as the name of self links that collide with the object in the
         current state.
 
-        Updates acm_ to allow collisions between attached object and touch_links.
+        Updates ``acm_`` to allow collisions between attached object and touch_links.
 
         If the object is already attached, the touch_links of the attached object is
-        preserved and acm_ remains unchanged.
+        preserved and ``acm_`` remains unchanged.
 
         :param name: name of the non-articulated object to attach
         :param art_name: name of the planned articulation to attach to
@@ -457,7 +457,7 @@ class PlanningWorld:
         given pose. If the object is currently attached, disallow collision between the
         object and previous touch_links.
 
-        Updates acm_ to allow collisions between attached object and touch_links.
+        Updates ``acm_`` to allow collisions between attached object and touch_links.
 
         :param name: name of the non-articulated object to attach
         :param art_name: name of the planned articulation to attach to
@@ -475,10 +475,10 @@ class PlanningWorld:
         touch_links as the name of self links that collide with the object in the
         current state.
 
-        Updates acm_ to allow collisions between attached object and touch_links.
+        Updates ``acm_`` to allow collisions between attached object and touch_links.
 
         If the object is already attached, the touch_links of the attached object is
-        preserved and acm_ remains unchanged.
+        preserved and ``acm_`` remains unchanged.
 
         :param name: name of the non-articulated object to attach
         :param art_name: name of the planned articulation to attach to
@@ -500,7 +500,7 @@ class PlanningWorld:
         """
         Attaches given object (w/ p_geom) to specified link of articulation at given
         pose. This is done by removing the object and then adding and attaching object.
-        As a result, all previous acm_ entries with the object are removed
+        As a result, all previous ``acm_`` entries with the object are removed
 
         :param name: name of the non-articulated object to attach
         :param p_geom: pointer to a CollisionGeometry object
@@ -521,7 +521,7 @@ class PlanningWorld:
         """
         Attaches given object (w/ p_geom) to specified link of articulation at given
         pose. This is done by removing the object and then adding and attaching object.
-        As a result, all previous acm_ entries with the object are removed.
+        As a result, all previous ``acm_`` entries with the object are removed.
         Automatically sets touch_links as the name of self links that collide with the
         object in the current state (auto touch_links).
 
@@ -574,7 +574,7 @@ class PlanningWorld:
         """
     def detach_object(self, name: str, also_remove: bool = False) -> bool:
         """
-        Detaches object with given name. Updates acm_ to disallow collision between the
+        Detaches object with given name. Updates ``acm_`` to disallow collision between the
         object and touch_links.
 
         :param name: name of the non-articulated object to detach
@@ -714,16 +714,16 @@ class PlanningWorld:
         """
     def remove_articulation(self, name: str) -> bool:
         """
-        Removes the articulation with given name if exists. Updates acm_
+        Removes the articulation with given name if exists. Updates ``acm_``
 
         :param name: name of the articulated model
         :return: ``True`` if success, ``False`` if articulation with given name does not
             exist
         """
     def remove_object(self, name: str) -> bool:
         """
-        Removes (and detaches) the collision object with given name if exists. Updates
-        acm_
+        Removes (and detaches) the collision object with given name if exists.
+        Updates ``acm_``
 
         :param name: name of the non-articulated collision object
         :return: ``True`` if success, ``False`` if the non-articulated object with given

mplib/pymp/collision_detection/__init__.pyi

@@ -77,7 +77,7 @@ class AllowedCollisionMatrix:
         """
     def get_all_entry_names(self) -> list[str]:
         """
-        Get sorted names of all existing elements (including default_entries_)
+        Get sorted names of all existing elements (including ``default_entries_``)
         """
     def get_allowed_collision(self, name1: str, name2: str) -> AllowedCollision | None:
         """