Kinematics
==========

 .. toctree::
    :caption: Kinematics solver
    :maxdepth: 2

    getting_started
    concepts
    regularization
    joint_limits
    joints_mask
    solver_status
    loop_closures

.. toctree::
    :caption: Tasks
    :maxdepth: 2

    position_orientation_frame_task
    joints_task
    distance_task
    com_task
    wheel_task
    axis_align_task
    gear_task

.. toctree::
    :caption: Constraints
    :maxdepth: 2

    com_polygon_constraint
    avoid_self_collisions_constraint
    cone_constraint
    yaw_constraint
    distance_constraint
    joint_space_half_spaces_constraint

.. toctree::
  :caption: Examples
  :maxdepth: 2

  examples_gallery