config.controllers¶

Controllers in a configuration: a registered template, or virtual states and elements.

An element names a registered component type; coordinate is the coordinate it acts on (left out for components that take the robot, such as gravity compensation) and every other key is a keyword argument of the component, such as its stiffness.

Functions

`build_controller`(spec, name, robot, ...[, named])	The controller mechanism `name` of `spec`; `named` allows the key `name`.
`build_element`(spec, scope, path)	A component of a registered `type`, on its `coordinate` or on the robot.