.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "examples/simulator/example_franka_track_traj.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        :ref:`Go to the end <sphx_glr_download_examples_simulator_example_franka_track_traj.py>`
        to download the full example code

.. rst-class:: sphx-glr-example-title

.. _sphx_glr_examples_simulator_example_franka_track_traj.py:


Tracking the trajectory by Franka
============================================================

This example runs a Tai Chi demo trajectory by using Franka.

.. GENERATED FROM PYTHON SOURCE LINES 7-23

.. code-block:: default


    import isaacgym
    import numpy as np

    import rofunc as rf

    traj = np.load('../data/LQT_LQR/taichi_1l.npy')
    traj[:, 0] -= 0.5
    traj[:, 1] += 0.2
    traj[:, 2] -= 0.6
    traj[:, 3:] = [0., 1, 0, 0]
    rf.lqt.plot_3d_uni(traj, ori=False)

    args = rf.config.get_sim_config("Franka")
    frankasim = rf.sim.FrankaSim(args)
    frankasim.run_traj(traj)


.. rst-class:: sphx-glr-timing

   **Total running time of the script:** (0 minutes 0.000 seconds)


.. _sphx_glr_download_examples_simulator_example_franka_track_traj.py:

.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-example




    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download Python source code: example_franka_track_traj.py <example_franka_track_traj.py>`

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download Jupyter notebook: example_franka_track_traj.ipynb <example_franka_track_traj.ipynb>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_