parameters: (self,qtgt)
docstring: Sets the target configuration and updates the Cartesian pose.
docstring_summary: Sets the target configuration and updates the Cartesian pose.
docstring_tokens: Sets the target configuration and updates the Cartesian pose .
function: def setTargetConfig(self,qtgt):
          """Sets the target configuration and updates the Cartesian pose."""
          if qtgt is None:
              qtgt = self.robotPoser.get()
          else:
              self.robotPoser.set(qtgt)
          if self.cartesianControlEnabled:
              if self.toolCoordinates is None:
                  print("Warning: cartesianControlEnabled=True but toolCoordinates=None?")
                  return
              robot = self.world.robot(0)
              robot.setConfig(qtgt)
              ee = robot.link(self.endEffectorLink)
              t = ee.getWorldPosition(self.toolCoordinates)
              R = ee.getTransform()[0] 
              self.cartesianGoalPoser.set(R,t)
function_tokens: def setTargetConfig ( self , qtgt ) : if qtgt is None : qtgt = self . robotPoser . get ( ) else : self . robotPoser . set ( qtgt ) if self . cartesianControlEnabled : if self . toolCoordinates is None : print ( "Warning: cartesianControlEnabled=True but toolCoordinates=None?" ) return robot = self . world . robot ( 0 ) robot . setConfig ( qtgt ) ee = robot . link ( self . endEffectorLink ) t = ee . getWorldPosition ( self . toolCoordinates ) R = ee . getTransform ( ) [ 0 ] self . cartesianGoalPoser . set ( R , t )