Local control theory (LCT) is employed to achieve molecular photoassociation with shaped laser pulses. Within LCT, the control fields are constructed from the response of the system to the perturbation which makes them accessible to a straightforward interpretation. This is shown regarding the ground-state collision of H+F and H+I atoms. Different objectives are defined, which aim at the formation of vibrational cold or hot associated molecules, respectively. Results are presented for s-wave scattering, where the rotational degree of freedom is ignored and also for full scale calculations including rotations, in order to describe more realistic conditions.