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{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "49b65cc2-ef99-4768-a8dc-48cc3bec2e9b",
   "metadata": {},
   "source": [
    "### Trajectory shaping"
   ]
  },

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# Plot graph
fig = StaticPlotWidget(
    title         = 'Constant-velocity Interpolated Joint Position Trajectories',
    x_offset      = 0,
    y_offset      = 0,
    window_width  = int(0.5*env.monitor_width),
    window_height = int(1.0*env.monitor_height),
    x_label       = 'time (sec)',
    legend        = True, 
    legend_loc    = 'top-right'

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<mujoco model="right_mano_hand">
  <compiler angle="radian" meshdir="." autolimits="true"/>
  <option cone="elliptic" impratio="10"/>
  <option timestep="0.002" integrator="implicitfast" />

  <asset>
    <!-- Skin textures -->
    <texture name="tex_skin_light" type="2d" builtin="flat" width="1" height="1" rgb1="0.96 0.79 0.70" rgb2="0.96 0.79 0.70"/>
    <texture name="tex_skin_medium" type="2d" builtin="flat" width="1" height="1" rgb1="0.86 0.64 0.52" rgb2="0.86 0.64 0.52"/>
    <texture name="tex_skin_tan" type="2d" builtin="flat" width="1" height="1" rgb1="0.74 0.55 0.43" rgb2="0.74 0.55 0.43"/>

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import os
import pyautogui
import sys
import time
import cv2
import random
import re
import numpy as np
import cvxpy as cp
import shapely as sp

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