docs: specify sphinx dirhtml builder, use references instead of absolutes #6612
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With the requirement of a configuration file, the default builder of
dirhtml
that RTD used to use is no longer specified. This leads to URLs ending in.html
now, whichbreaks other exisitng references.
Refs: #6603
Refs: https://docs.readthedocs.io/en/stable/config-file/v2.html#sphinx-builder
Refs: https://www.sphinx-doc.org/en/master/usage/builders/index.html#sphinx.builders.dirhtml.DirectoryHTMLBuilder