[Feature]: Inclusion of documentation about base classes' functionalities and properties

[TangYucopper]

What feature or enhancement are you proposing?

More documentation about functionalities provided by base classes

Motivation

As an embodied intelligence researcher, I tried to get the link-level cartesian coordinate frames yesterday night. However, after an hour of searching in the document site https://genesis-world.readthedocs.io/en/latest/search.html?q=quat with "get_quat", "quat", "rot", and other keywords, the closest I can get is "get_quat()" as in "link.geoms[0].get_quat()", which of course gives me wrong results. I even tried to downgrade the version of my genesis-world version but it does not help.

Finally I believed it is a bug and issued #2729 , in which I get the reply that get_quat is implemented in RigidLink's base class, KinematicLink. However, although I should apologize for my rudeness in #2729, I wonder if the documentation can be updated such that base classes' functionalities can be included and thus we do not have to go through the source codes in search for APIs.

Potential Benefit

Users can search for useful APIs in https://genesis-world.readthedocs.io/en/latest/api_reference/index.html, instead of going through source codes

What is the expected outcome of the implementation work?

• [ Introduction about base classes in https://genesis-world.readthedocs.io/en/latest/api_reference/index.html ]

Additional information

No response

[Milotrince]

Yes documentation has been lagging behind quite a bit, it's not a priority for the team since Genesis is still not officially at a 1.0 yet. Until then, docstrings and source code are going to be the best source of truth. If you have a good IDE set up, you should be able to get type annotations and cmd+click to read source code. Examples are also a good idea to check.