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