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class SitePositionIKSolver(object):
    """
    Inverse Kinematics (IK) solver for site position targets using Damped Least Squares (DLS) method.
    This class provides methods to set up IK targets, configure solver parameters, and compute joint updates to achieve desired site positions.

    Usage:
    ------

        # Create IK solver (use all rev joints by default)
        ik_solver = SitePositionIKSolver(

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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