:py:mod:`rofunc.utils.robolab.kinematics.ik_new_config`
=======================================================

.. py:module:: rofunc.utils.robolab.kinematics.ik_new_config

.. autodoc2-docstring:: rofunc.utils.robolab.kinematics.ik_new_config
   :allowtitles:

Module Contents
---------------

Functions
~~~~~~~~~

.. list-table::
   :class: autosummary longtable
   :align: left

   * - :py:obj:`transform_torso <rofunc.utils.robolab.kinematics.ik_new_config.transform_torso>`
     - .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.ik_new_config.transform_torso
          :summary:
   * - :py:obj:`transform_left_arm <rofunc.utils.robolab.kinematics.ik_new_config.transform_left_arm>`
     - .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.ik_new_config.transform_left_arm
          :summary:
   * - :py:obj:`compute_jacobian <rofunc.utils.robolab.kinematics.ik_new_config.compute_jacobian>`
     - .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.ik_new_config.compute_jacobian
          :summary:
   * - :py:obj:`ik_new_config <rofunc.utils.robolab.kinematics.ik_new_config.ik_new_config>`
     - .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.ik_new_config.ik_new_config
          :summary:

API
~~~

.. py:function:: transform_torso(torso_joint)
   :canonical: rofunc.utils.robolab.kinematics.ik_new_config.transform_torso

   .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.ik_new_config.transform_torso

.. py:function:: transform_left_arm(arm_joint)
   :canonical: rofunc.utils.robolab.kinematics.ik_new_config.transform_left_arm

   .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.ik_new_config.transform_left_arm

.. py:function:: compute_jacobian(T)
   :canonical: rofunc.utils.robolab.kinematics.ik_new_config.compute_jacobian

   .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.ik_new_config.compute_jacobian

.. py:function:: ik_new_config(pose, ori, joint_id)
   :canonical: rofunc.utils.robolab.kinematics.ik_new_config.ik_new_config

   .. autodoc2-docstring:: rofunc.utils.robolab.kinematics.ik_new_config.ik_new_config