Fix controller_configs naming in documentation

docs/modules/controllers.ipynb

@@ -177,11 +177,11 @@
     "config = load_controller_config(default_controller=controller_name)\n",
     "\n",
     "# Create environment\n",
-    "env = suite.make(\"Lift\", robots=\"Panda\", controller_config=config, ... )\n",
+    "env = suite.make(\"Lift\", robots=\"Panda\", controller_configs=config, ... )\n",
     "```\n",
     "\n",
     "#### Using a Custom Controller Configuration\n",
-    "A custom controller configuration can also be used by simply creating a new config (`.json`) file with the relevant parameters as specified above. All robosuite environments have an optional `controller_config` argument that can be used to pass in specific controller settings. Note that this is expected to be a `dict`, so the new configuration must be read in and parsed as a `dict` before passing it during the environment `robosuite.make(...)` call. A brief example script showing how to import a custom controller configuration is shown below.\n",
+    "A custom controller configuration can also be used by simply creating a new config (`.json`) file with the relevant parameters as specified above. All robosuite environments have an optional `controller_configs` argument that can be used to pass in specific controller settings. Note that this is expected to be a `dict`, so the new configuration must be read in and parsed as a `dict` before passing it during the environment `robosuite.make(...)` call. A brief example script showing how to import a custom controller configuration is shown below.\n",
     "\n",
     "```python\n",
     "import robosuite as suite\n",
@@ -194,7 +194,7 @@
     "config = load_controller_config(custom_fpath=controller_fpath)\n",
     "\n",
     "# Create environment\n",
-    "env = suite.make(\"Lift\", robots=\"Panda\", controller_config=config, ... )\n",
+    "env = suite.make(\"Lift\", robots=\"Panda\", controller_configs=config, ... )\n",
     "```"
    ]
   }