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name: controllers description: "Select, validate, and extend robosuite controllers, controller configs, action splits, and custom robot composition." disable-model-invocation: true metadata: disco-role: operating license: NOASSERTION

Controllers

Use this sub-skill for controller selection, controller-config validation, action-split inspection, custom robot composition, and third-party composite controller routing.

Primary references

• references/controller-configs-and-actions.md
• references/robots-grippers-and-bases.md
• references/third-party-controllers.md
• references/troubleshooting.md

Bundled helpers

• scripts/print_action_info.py — print JSON action splits for an env / robot / controller config
• scripts/validate_controller_config.py — validate composite controller JSON shape and common omissions

Fast paths

• Default robot controller: load_composite_controller_config(robot="Panda")
• BASIC preset: load_composite_controller_config(controller="BASIC")
• Custom controller JSON: load_composite_controller_config(controller="/path/to/controller.json")
• Legacy part config: load_part_controller_config(default_controller="OSC_POSE")
• Action dict to vector: robot.create_action_vector({"right": np.zeros(6), "right_gripper": np.array([0.0])})
• Custom composite robot: create_composite_robot("CustomPanda", robot="Panda", base="RethinkMount", grippers="PandaGripper")

Boundary

Included:

• load_composite_controller_config
• load_part_controller_config
• BASIC, HYBRID_MOBILE_BASE, WHOLE_BODY_IK
• part controllers and controller JSON structure
• robot / gripper / base registries
• action_split_indexes
• robot.create_action_vector
• create_composite_robot
• third-party composite controller extension pattern

Excluded:

• environment setup basics
• device-to-action conversion
• camera / rendering workflows
• MJCF world / object modeling

Cross-links

• ../environments for suite.make(...) examples
• ../teleoperation for device-to-action conversion
• ../modeling for custom robot XML checks

Notes

• WHOLE_BODY_MINK_IK is optional and reference-only; current verification did not include mink.
• robosuite_models adds extra robots, grippers, and bases when installed, but it is optional.