controllers

create_controller(name, **kwargs)

Creates a controller of type @name with corresponding necessary keyword arguments @kwargs

Parameters:

Name	Type	Description	Default
name	str	type of controller to use (e.g. JointController, InverseKinematicsController, etc.)	required
**kwargs		Any relevant keyword arguments to pass to the controller	{}

Returns:

Type	Description
Controller	created controller

Source code in omnigibson/controllers/__init__.py

def create_controller(name, **kwargs):
    """
    Creates a controller of type @name with corresponding necessary keyword arguments @kwargs

    Args:
        name (str): type of controller to use (e.g. JointController, InverseKinematicsController, etc.)
        **kwargs: Any relevant keyword arguments to pass to the controller

    Returns:
        Controller: created controller
    """
    assert_valid_key(key=name, valid_keys=REGISTERED_CONTROLLERS, name="controller")
    controller_cls = REGISTERED_CONTROLLERS[name]

    return controller_cls(**kwargs)