{% block sidebartitle %}
-
+
 }})
diff --git a/conf.py b/conf.py
index cc2be6d0d..2bf08b5e3 100644
--- a/conf.py
+++ b/conf.py
@@ -63,7 +63,7 @@
'kinematic_constraints': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/cpp/classkinematic__constraints_1_1%s.html', ''),
'moveit_core_files': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/cpp/%s.html', ''),
'move_group_interface': ('http://docs.ros.org/' + ros_distro + '/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1%s.html', ''),
- 'moveit_website': ('http://moveit.ros.org/%s/', '')}
+ 'moveit_website': ('http://moveit.ai/%s/', '')}
# Output file base name for HTML help builder.
htmlhelp_basename = 'MoveItDocumentation'
diff --git a/doc/benchmarking/benchmarking_tutorial.rst b/doc/benchmarking/benchmarking_tutorial.rst
index 552f3ce5a..38950b5b7 100644
--- a/doc/benchmarking/benchmarking_tutorial.rst
+++ b/doc/benchmarking/benchmarking_tutorial.rst
@@ -4,7 +4,7 @@
Benchmarking
=====================
-.. note:: To use this benchmarking method, you will need to download and install the ROS Warehouse plugin. Currently this is not available from Debians and requires a source install for at least some aspects. For source instructions, see `this page
`_
+.. note:: To use this benchmarking method, you will need to download and install the ROS Warehouse plugin. Currently this is not available from Debians and requires a source install for at least some aspects. For source instructions, see `this page
`_
Getting Started
---------------
diff --git a/doc/getting_started/getting_started.rst b/doc/getting_started/getting_started.rst
index b6b18f8e0..d52e47a67 100644
--- a/doc/getting_started/getting_started.rst
+++ b/doc/getting_started/getting_started.rst
@@ -22,7 +22,7 @@ The simplest way to install MoveIt is from pre-built binaries (Debian): ::
sudo apt install ros-melodic-moveit
-Advanced users might want to `install MoveIt from source
`_.
+Advanced users might want to `install MoveIt from source
`_.
If you want to build your own MoveIt fork, replace the repository uri in the .rosinstall file with your own.
Create A Catkin Workspace
diff --git a/doc/ompl_interface/ompl_interface_tutorial.rst b/doc/ompl_interface/ompl_interface_tutorial.rst
index d437da899..e00426273 100644
--- a/doc/ompl_interface/ompl_interface_tutorial.rst
+++ b/doc/ompl_interface/ompl_interface_tutorial.rst
@@ -106,4 +106,4 @@ You can adjust the amount of time MoveIt spends on smoothing by increasing the p
Although not currently exposed at the top levels of MoveIt (TODO), more smoothing can be accomplished by setting the simplification duration to 0 (unlimited) in ``model_based_planning_context.cpp``. This will enable OMPL's ``simplifyMax()`` function.
-Besides the internal OMPL smoothers, recent efforts have been made to do post-proccessing with STOMP/CHOMP. See `this blog post
`_.
+Besides the internal OMPL smoothers, recent efforts have been made to do post-proccessing with STOMP/CHOMP. See `this blog post `_.
diff --git a/doc/planning_adapters/planning_adapters_tutorial.rst b/doc/planning_adapters/planning_adapters_tutorial.rst
index 68f89ab20..cf240f74d 100644
--- a/doc/planning_adapters/planning_adapters_tutorial.rst
+++ b/doc/planning_adapters/planning_adapters_tutorial.rst
@@ -21,7 +21,7 @@ As you add and remove packages from your workspace you will need to clean your w
cd ~/ws_moveit/src
catkin clean
-Now follow the instructions on the MoveIt homepage for `installing MoveIt Melodic from source `_. Note that you can skip the **Prerequisites** section since you should already have a Catkin workspace.
+Now follow the instructions on the MoveIt homepage for `installing MoveIt Melodic from source `_. Note that you can skip the **Prerequisites** section since you should already have a Catkin workspace.
Re-source the setup files: ::
diff --git a/index.rst b/index.rst
index f3defa1db..0a9bcf7da 100644
--- a/index.rst
+++ b/index.rst
@@ -6,7 +6,7 @@ These tutorials will step you through using and learning the MoveIt Motion Plann
.. image:: doc/quickstart_in_rviz/rviz_plugin_head.png
:width: 700px
-In these tutorials, the Franka Emika Panda robot is used as a quick-start demo. Alternatively, you can easily use any robot that has already been configured to work with MoveIt - check the `list of robots running MoveIt `_ to see whether MoveIt is already available for your robot. Otherwise, you can setup MoveIt to work with your custom robot in the tutorial section "Integration with a New Robot", below.
+In these tutorials, the Franka Emika Panda robot is used as a quick-start demo. Alternatively, you can easily use any robot that has already been configured to work with MoveIt - check the `list of robots running MoveIt `_ to see whether MoveIt is already available for your robot. Otherwise, you can setup MoveIt to work with your custom robot in the tutorial section "Integration with a New Robot", below.
Getting Started with MoveIt and RViz
-------------------------------------
@@ -46,7 +46,7 @@ Building more complex applications with MoveIt often requires developers to dig
Integration with a New Robot
----------------------------
-Before attempting to integrate a new robot with MoveIt, check whether your robot has already been setup (see the `list of robots running MoveIt `_). Otherwise, follow the tutorials in this section to integrate your robot with MoveIt (and share your results on the MoveIt mailing list)
+Before attempting to integrate a new robot with MoveIt, check whether your robot has already been setup (see the `list of robots running MoveIt `_). Otherwise, follow the tutorials in this section to integrate your robot with MoveIt (and share your results on the MoveIt mailing list)
.. toctree::
:maxdepth: 1
@@ -86,7 +86,7 @@ Attribution
-----------
Major contributors to the MoveIt tutorials are listed in chronological order: Sachin Chitta, Dave Hershberger, Acorn Pooley, Dave Coleman, Michael Gorner, Francisco Suarez, Mike Lautman. Help us improve these docs and we'll be happy to include you here also!
-The tutorials had a major update in 2018 during a code sprint sponsored by Franka Emika in collaboration with PickNik (`Check out the blog post! `_)
+The tutorials had a major update in 2018 during a code sprint sponsored by Franka Emika in collaboration with PickNik (`Check out the blog post! `_)
.. image:: ./_static/franka_logo.png
:width: 300px