Set up

conda create -n jointdiff python=3.7
conda activate jointdiff
pip install pip==21.0.1
pip install -r requirements.txt
pip install torch==1.10.0+cpu torchvision==0.11.0+cpu torchaudio==0.10.0 -f https://download.pytorch.org/whl/torch_stable.html

Run the examples, run each individual py files such as

python PJ4.py
python Ball4.py
python pendulum.py
python LK.py
python D6.py
python AttControl.py

Control Animation for the learned controller from our approach. Dashed lines are the target position.