Controllers API Reference

This page provides API documentation for the controller module.

TemplateController

Base class for all robot arm controllers.

Constructor

TemplateController(cfg, task, robot_file: str, **kwargs)

Parameters:

Parameter	Type	Description
cfg	DictConfig	Controller configuration
task	BananaBaseTask	Task instance
robot_file	str	Path to CuRobo robot config

Properties

Property	Type	Description
raw_js_names	List[str]	Joint names in CuRobo order
cmd_js_names	List[str]	Joint names in simulation order
arm_indices	np.ndarray	Arm joint indices
gripper_indices	np.ndarray	Gripper joint indices
_gripper_state	float	Gripper state (1.0=open, -1.0=closed)

Methods

_configure_joint_indices(robot_file: str)

Configure joint names and indices. Must be implemented by subclass.

_get_default_ignore_substring() -> List[str]

Return default collision filter substrings. Must be implemented by subclass.

get_gripper_action() -> np.ndarray

Map gripper state to joint targets. Must be implemented by subclass.

_load_world(use_default: bool = True)

Load world configuration for motion planning.

Returns: WorldConfig

_get_motion_gen_collision_cache() -> dict

Return collision cache sizes.

Returns: {"obb": int, "mesh": int}

_get_grasp_approach_linear_axis() -> int

Return grasp approach axis (0=x, 1=y, 2=z).

Returns: int (default: 2)

_get_sort_path_weights() -> Optional[List[float]]

Return weights for path selection.

Returns: List[float] or None

plan_to_pose(target_pose)

Plan motion to target pose.

Parameters:

• target_pose: Tuple of (position, orientation)

Returns: bool - Success status

execute_plan()

Execute the planned trajectory.

set_gripper_state(state: float)

Set gripper state.

Parameters:

• state: 1.0 for open, -1.0 for closed

get_current_joint_state() -> np.ndarray

Get current joint positions.

Returns: np.ndarray of joint positions

---

Lift2Controller

Controller for ARX-Lift2 dual-arm robot.

@register_controller
class Lift2Controller(TemplateController):
    def _get_grasp_approach_linear_axis(self) -> int:
        return 0  # x-axis

Features:

• Dual-arm support
• Custom world configuration
• X-axis grasp approach

---

SplitAlohaController

Controller for Agilex Split Aloha dual-arm robot.

@register_controller
class SplitAlohaController(TemplateController):
    def _get_grasp_approach_linear_axis(self) -> int:
        return 2  # z-axis

Features:

• Dual-arm support
• Z-axis grasp approach
• Optional joint control

---

Genie1Controller

Controller for Genie1 dual-arm robot.

@register_controller
class Genie1Controller(TemplateController):
    def _get_sort_path_weights(self) -> List[float]:
        return [1, 1, 1, 1, 3, 3, 1]

Features:

• 7-DOF per arm
• Path selection weights
• Custom world configuration

---

FR3Controller

Controller for Franka FR3 single-arm robot.

@register_controller
class FR3Controller(TemplateController):
    def _get_motion_gen_collision_cache(self):
        return {"obb": 1000, "mesh": 1000}

Features:

• Single-arm support
• Panda gripper
• Larger collision cache

---

FrankaRobotiq85Controller

Controller for Franka with Robotiq 2F-85 gripper.

@register_controller
class FrankaRobotiq85Controller(TemplateController):
    def get_gripper_action(self):
        return np.clip(
            -self._gripper_state * self._gripper_joint_position,
            0.0, 5.0
        )

Features:

• Single-arm support
• Robotiq 2F-85 gripper
• Inverted gripper mapping