bugfixes

alr_envs/black_box/factory/controller_factory.py

@@ -0,0 +1,21 @@
+from alr_envs.black_box.controller.meta_world_controller import MetaWorldController
+from alr_envs.black_box.controller.pd_controller import PDController
+from alr_envs.black_box.controller.vel_controller import VelController
+from alr_envs.black_box.controller.pos_controller import PosController
+
+ALL_TYPES = ["motor", "velocity", "position", "metaworld"]
+
+
+def get_controller(controller_type: str, **kwargs):
+    controller_type = controller_type.lower()
+    if controller_type == "motor":
+        return PDController(**kwargs)
+    elif controller_type == "velocity":
+        return VelController()
+    elif controller_type == "position":
+        return PosController()
+    elif controller_type == "metaworld":
+        return MetaWorldController()
+    else:
+        raise ValueError(f"Specified controller type {controller_type} not supported, "
+                         f"please choose one of {ALL_TYPES}.")