text: from src.Simulator import *
  from src.arms import *
  from src.controllers.joint_space_feedforward_controller import *
  
  """ This script uses feedforward motion control to move to a target."""
  
  # Create robot
  q_init = np.array([[math.pi / 4], [0.0]])
  robot = TwoDofArm()
  robot.set_q_init(q_init)
  
  # Create controller
  controller = Control(robot)
  
  # Create target pose in joint space
  q_des = np.array([[-math.pi / 4], [0.0]])
  controller.set_joint_space_target(q_des)
  
  # Run animation
  joint_of_interest = 1
  sim = Simulator(robot, controller, joint_of_interest)
  sim.simulate()
  