# Source: https://internrobotics.github.io/InternDataEngine-Docs/api/controllers.html

# Controllers API Reference [​](#controllers-api-reference)

This page provides API documentation for the controller module.

## TemplateController [​](#templatecontroller)

Base class for all robot arm controllers.

### Constructor [​](#constructor)
python
```
TemplateController(cfg, task, robot_file: str, **kwargs)
```
1

**Parameters: **

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

### Properties [​](#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 [​](#methods)

#### `_configure_joint_indices(robot_file: str) `[​](#configure-joint-indices-robot-file-str)

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

#### `_get_default_ignore_substring() -> List[str] `[​](#get-default-ignore-substring-list-str)

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

#### `get_gripper_action() -> np.ndarray `[​](#get-gripper-action-np-ndarray)

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

#### `_load_world(use_default: bool = True) `[​](#load-world-use-default-bool-true)

Load world configuration for motion planning.

**Returns: **`WorldConfig `

#### `_get_motion_gen_collision_cache() -> dict `[​](#get-motion-gen-collision-cache-dict)

Return collision cache sizes.

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

#### `_get_grasp_approach_linear_axis() -> 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]] `[​](#get-sort-path-weights-optional-list-float)

Return weights for path selection.

**Returns: **`List[float] `or `None `

#### `plan_to_pose(target_pose) `[​](#plan-to-pose-target-pose)

Plan motion to target pose.

**Parameters: **

- `target_pose `: Tuple of (position, orientation)

**Returns: **`bool `- Success status

#### `execute_plan() `[​](#execute-plan)

Execute the planned trajectory.

#### `set_gripper_state(state: float) `[​](#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-state-np-ndarray)

Get current joint positions.

**Returns: **`np.ndarray `of joint positions

## Lift2Controller [​](#lift2controller)

Controller for ARX-Lift2 dual-arm robot.
python
```
@register_controller
class Lift2Controller(TemplateController):
    def _get_grasp_approach_linear_axis(self) -> int:
        return 0  # x-axis
```
1
2
3
4

**Features: **

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

## SplitAlohaController [​](#splitalohacontroller)

Controller for Agilex Split Aloha dual-arm robot.
python
```
@register_controller
class SplitAlohaController(TemplateController):
    def _get_grasp_approach_linear_axis(self) -> int:
        return 2  # z-axis
```
1
2
3
4

**Features: **

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

## Genie1Controller [​](#genie1controller)

Controller for Genie1 dual-arm robot.
python
```
@register_controller
class Genie1Controller(TemplateController):
    def _get_sort_path_weights(self) -> List[float]:
        return [1, 1, 1, 1, 3, 3, 1]
```
1
2
3
4

**Features: **

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

## FR3Controller [​](#fr3controller)

Controller for Franka FR3 single-arm robot.
python
```
@register_controller
class FR3Controller(TemplateController):
    def _get_motion_gen_collision_cache(self):
        return {"obb": 1000, "mesh": 1000}
```
1
2
3
4

**Features: **

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

## FrankaRobotiq85Controller [​](#frankarobotiq85controller)

Controller for Franka with Robotiq 2F-85 gripper.
python
```
@register_controller
class FrankaRobotiq85Controller(TemplateController):
    def get_gripper_action(self):
        return np.clip(
            -self._gripper_state * self._gripper_joint_position,
            0.0, 5.0
        )
```
1
2
3
4
5
6
7

**Features: **

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