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Implementation:ARISE Initiative Robosuite Controller Factory

From Leeroopedia
Knowledge Sources
Domains Robotics, Control
Last Updated 2026-02-15 07:00 GMT

Overview

Concrete tool for streamlining controller instantiation through factory functions provided by robosuite.

Description

The controller_factory module provides a set of factory functions that simplify the creation of controller instances for different robot parts. Rather than requiring users to import and configure individual controller classes directly, the factory functions accept a controller type name (string) and a parameter dictionary, then return the appropriate fully-configured controller instance. This follows the Factory design pattern to decouple controller selection from instantiation logic.

The module contains a top-level dispatcher function controller_factory() that routes creation requests based on the robot part name (e.g., "right", "left", "right_gripper", "base", "torso", "head", "legs") to specialized factory functions: arm_controller_factory(), gripper_controller_factory(), mobile_base_controller_factory(), torso_controller_factory(), head_controller_factory(), and legs_controller_factory(). Each factory function handles interpolator setup (linear interpolation via LinearInterpolator when configured) and controller-specific parameter wiring.

Additionally, the module includes the load_part_controller_config() utility function for loading controller configurations from JSON files, supporting both custom file paths and built-in default configurations for standard controller types.

Usage

Use the controller factory functions whenever you need to create a controller instance in robosuite. The factory is the recommended entry point for controller creation, as it handles all setup including interpolator configuration and parameter forwarding. The controller_factory() dispatcher is called internally by the robot classes during initialization.

Code Reference

Source Location

Signature

def load_part_controller_config(custom_fpath=None, default_controller=None) -> dict: ...

def arm_controller_factory(name: str, params: dict) -> Controller: ...

def controller_factory(part_name: str, controller_type: str, controller_params: dict) -> Controller: ...

def gripper_controller_factory(name: str, params: dict) -> GripperController: ...

def mobile_base_controller_factory(name: str, params: dict) -> MobileBaseController: ...

def torso_controller_factory(name: str, params: dict) -> Controller: ...

def head_controller_factory(name: str, params: dict) -> Controller: ...

def legs_controller_factory(name: str, params: dict) -> Controller: ...

Import

from robosuite.controllers.parts.controller_factory import controller_factory
from robosuite.controllers.parts.controller_factory import arm_controller_factory
from robosuite.controllers.parts.controller_factory import load_part_controller_config

I/O Contract

Inputs

controller_factory

Name Type Required Description
part_name str Yes Robot part identifier: "right", "left", "right_gripper", "left_gripper", "base", "torso", "head", or "legs"
controller_type str Yes Controller type name, e.g. "OSC_POSE", "JOINT_POSITION", "IK_POSE", "GRIP", "JOINT_VELOCITY", "JOINT_TORQUE"
controller_params dict Yes Dictionary of parameters to pass to the controller constructor (includes sim, joint_indexes, actuator_range, etc.)

arm_controller_factory

Name Type Required Description
name str Yes One of: "OSC_POSE", "OSC_POSITION", "IK_POSE", "JOINT_VELOCITY", "JOINT_POSITION", "JOINT_TORQUE"
params dict Yes Controller parameters. Must include "interpolation" (str or None), "ndim" (int), "sim", "policy_freq", and "ramp_ratio" for interpolator setup

load_part_controller_config

Name Type Required Description
custom_fpath str No Absolute path to a custom controller JSON config file
default_controller str No Name of a default controller to load (e.g. "JOINT_POSITION"). Overrides custom_fpath

Outputs

Name Type Description
controller Controller (or subclass) A fully-initialized controller instance ready for use
config (from load_part_controller_config) dict Loaded controller configuration dictionary from JSON

Usage Examples

# Using the top-level dispatcher to create an arm controller
from robosuite.controllers.parts.controller_factory import controller_factory
import numpy as np

params = {
    "sim": sim,
    "ref_name": "gripper0_grip_site",
    "joint_indexes": {
        "joints": [0, 1, 2, 3, 4, 5, 6],
        "qpos": [0, 1, 2, 3, 4, 5, 6],
        "qvel": [0, 1, 2, 3, 4, 5, 6],
    },
    "actuator_range": (np.array([-87]*7), np.array([87]*7)),
    "policy_freq": 20,
    "ndim": 7,
    "interpolation": "linear",
    "ramp_ratio": 0.2,
}

# Create an OSC controller for the right arm
osc_controller = controller_factory("right", "OSC_POSE", params)

# Create a gripper controller
gripper_params = {
    "sim": sim,
    "joint_indexes": {
        "joints": [7, 8],
        "actuators": [7, 8],
        "qpos": [7, 8],
        "qvel": [7, 8],
    },
    "actuator_range": (np.array([-1, -1]), np.array([1, 1])),
}
grip_controller = controller_factory("right_gripper", "GRIP", gripper_params)

# Load a default controller configuration from file
from robosuite.controllers.parts.controller_factory import load_part_controller_config
config = load_part_controller_config(default_controller="OSC_POSE")

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