Merge remote-tracking branch 'origin/main' into another-multiversion-…

…hack

.github/workflows/deploy.yml

@@ -56,8 +56,6 @@ jobs:
       image: ${{ matrix.container }}
     steps:
     - uses: actions/checkout@v4
-      with:
-        ref: 'main'
 
     - name: Install Python dependencies
       run: |
@@ -91,11 +89,10 @@ jobs:
     - uses: actions/checkout@v4
       with:
         fetch-depth: 0
-        ref: 'main'
 
     - uses: actions/setup-python@v4
       with:
-        python-version: '3.8'
+        python-version: '3.10'
         cache: 'pip'
 
     - name: Install Python dependencies
@@ -108,7 +105,7 @@ jobs:
 
     - uses: ruby/setup-ruby@v1
       with:
-        ruby-version: '2.7'
+        ruby-version: '3'
 
     # TODO (peterdavidfagan): don't hardcode branches for downloads
     - name: Download Rolling Artifacts
@@ -143,7 +140,7 @@ jobs:
       run: |
         cp -r build/html/main/doc/api/python_api/ .   # backup artifact html
         make multiversion
-        cp -rf api.html build/html/main/doc/api/      # restore artifact html
+        cp -rf python_api/ build/html/main/doc/api/   # restore artifact html
 
     - name: Upload pages artifact
       uses: actions/upload-pages-artifact@v3

conf.py

@@ -254,6 +254,16 @@
 doxylink = {"cpp_api": ("build/html/api/MoveIt.tag", "api/html")}
 add_function_parentheses = True
 
+# Needed to support previous versions that did not include python bindings
+try:
+    import moveit
+except Exception as e:
+    autodoc_mock_imports = [
+        "moveit",
+        "moveit.core",
+        "moveit.planning",
+        "moveit.servo_client",
+    ]
 
 autodoc_typehints = "signature"