Controllers

Controllers map an action tensor to simulator commands for a robot.

You pick controller keys (strings) for the arm and the gripper:

• Flat API: arm_control="<key>" and gripper_control="<key>"

• Component API: pass ControllerOptions(name="<key>", config={...})

Quickstart

import dexsuite as ds

env = ds.make(
    "lift",
    manipulator="franka",
    gripper="robotiq",
    arm_control="osc_pose",
    gripper_control="joint_position",
)

Normalization (normalized)

Most controllers support a normalized flag.

• If normalized=True (default), actions are expected in [-1, 1] and are mapped into physical units using the controller config (for example lin_scale or v_max).

• If normalized=False, actions are interpreted directly in physical units (for example meters/radians, rad/s, or N*m depending on the controller).

• clip controls whether inputs are clamped to the allowed range.

Default Controller Config

Defaults live in dexsuite/config/env_configs/controllers.yaml. DexSuite loads these when you construct RobotOptions (and when you use the flat API).

Controller Reference

Key	Action dim	What it commands	Config keys
joint_position	dof	Joint position targets. Normalized maps [-1,1] to joint limits.	normalized, clip
joint_velocity	dof	Joint velocity targets. Normalized uses v = a * v_max.	normalized, clip, v_max
joint_torque	dof	Joint torque/force commands. Normalized uses tau = a * tau_max.	normalized, clip, tau_max
osc_pose	6	End-effector delta pose (XYZ + RPY) solved by IK each step.	normalized, clip, lin_scale, ang_scale
osc_pose_abs	6	End-effector pose offset from a captured origin pose (XYZ + RPY).	normalized, clip, lin_range, ang_range, ik_max_iters (opt), ik_damping (opt)
osc_pose_abs_quat	7	End-effector pose offset from origin (XYZ + delta quaternion, wxyz).	normalized, clip, lin_range, ik_max_iters (opt), ik_damping (opt)
ik_pose	6	Absolute end-effector target pose (XYZ + RPY) solved by IK each step.	normalized, clip (opt), ik_max_iters, ik_damping, ik_max_step (opt), ik_init

Notes

• Joint controllers (joint_*) have dof actions, where dof is the number of controlled joints for that arm/gripper.

• osc_pose_abs and osc_pose_abs_quat capture an origin pose on first use. If you want a fresh origin, recreate the env (or add a helper to recapture).