I'm sorry, but that isn't what RESTful means at all. Structured URIs like you mention can be pretty, but are completely unrelated to REST. In the real world they are often used in an anti-REST way, specified in advance instead of linked via hypermedia. If the client needs to use foreknowledge to construct URI strings, that goes against everything REST stands for.
REST is Hypertext As The Engine Of Application State — the default modus of ActionController::Routing::Routes has nothing to do with it.
A design that uses only opaque UUIDs as names for resources and reveals them to the client via links in the responses is perfect REST. Clean-looking URIs are a distraction, except that they tend to be easier to preserve across software rewrites.
REST is Hypertext As The Engine Of Application State — the default modus of ActionController::Routing::Routes has nothing to do with it.
A design that uses only opaque UUIDs as names for resources and reveals them to the client via links in the responses is perfect REST. Clean-looking URIs are a distraction, except that they tend to be easier to preserve across software rewrites.