update docstrings

Author: beverlylytle

src/compas/robots/configuration.py

@@ -605,10 +605,3 @@ def merged(self, other):
         joint_types = [_type_dict[name] for name in joint_names]
 
         return Configuration(joint_values, joint_types, joint_names)
-
-
-if __name__ == "__main__":
-    import math  # noqa F401
-    from compas.geometry import allclose   # noqa F401
-    import doctest
-    doctest.testmod(globs=globals())

src/compas/robots/model/robot.py

@@ -766,7 +766,7 @@ def compute_transformations(self, joint_state, link=None, parent_transformation=
 
         Parameters
         ----------
-        joint_state : dict or :class:`compas.robots.Configuration`
+        :class:`compas.robots.Configuration` or joint_state : dict
             A dictionary with the joint names as keys and values in radians and
             meters (depending on the joint type).
         link : :class:`compas.robots.Link`
@@ -812,7 +812,7 @@ def transformed_frames(self, joint_state):
 
         Parameters
         ----------
-        joint_state : dict or :class:`compas.robots.Configuration`
+        :class:`compas.robots.Configuration` or joint_state : dict
             A dictionary with the joint names as keys and values in radians and
             meters (depending on the joint type).
 
@@ -837,7 +837,7 @@ def transformed_axes(self, joint_state):
 
         Parameters
         ----------
-        joint_state : dict or :class:`compas.robots.Configuration`
+        :class:`compas.robots.Configuration` or joint_state : dict
             A dictionary with the joint names as keys and values in radians and
             meters (depending on the joint type).
 
@@ -861,7 +861,7 @@ def forward_kinematics(self, joint_state, link_name=None):
 
         Parameters
         ----------
-        joint_state : dict or :class:`compas.robots.Configuration`
+        :class:`compas.robots.Configuration` or joint_state : dict
             A dictionary with the joint names as keys and values in radians and
             meters (depending on the joint type).
         link_name : str, optional