# Overview Our codebase offers a variety of robot controllers. To see a full list of default controller parameters, you can do: ```python from deoxys.utils.config_utils import get_available_controller_configs get_available_controller_configs(verbose=True) ``` And the output should contain dictionaries, each of which has information like this: ```shell { 'Kp': {'rotation': 250.0, 'translation': 150.0}, 'action_scale': {'rotation': 1.0, 'translation': 0.05}, 'controller_type': 'OSC_POSE', 'residual_mass_vec': None, 'state_estimator_cfg': { 'alpha_dq': 0.9, 'alpha_eef': 1.0, 'alpha_eef_vel': 1.0, 'alpha_q': 0.9, 'is_estimation': False, 'state_estimator_type': 'EXPONENTIAL_SMOOTHING'}, 'traj_interpolator_cfg': { 'time_fraction': 0.3, 'traj_interpolator_type': 'LINEAR_POSE'}} ```
In this section, we introduces three key components in the implementation of high-frequency robot controllers: Task / Joint Space Controllers, Trajectory Interpolators, and State Estimators.
### Quick overview of type names Here are tables that list the implemented controllers, traj interpolators, and state estimators and their corresponding enum types in the codebase.

Important configuration

We recommend `is_delta=True` for OSC-family controllers, and `is_delta=False` for joint-space controllers.
| Controllers | Controller Type Name| |:------------------|:-------| | 6DoF Operational Space Controller | `OSC_POSE` | | 4DoF Operational Space Yaw Controlelr | `OSC_YAW` | | 3DoF Position-only Operational Space Contorller | `OSC_POSITION` | | Joint Impedance Controller | `JOINT_IMPEDANCE` | | Joint Positional Controller | `JOINT_POSITION` | | Trajectory Interpolators | Trajectory Interpolator Type Name | |:------------------|:-------| | Linear Interpolation in Pose | `LINEAR_POSE` | | Minimal Jerkiness Interpolation in Pose | `MIN_JERK_POSE` | | Minimal Jerkiness Interpolation in Joint Positions | `MIN_JERK_JOINT_POSITION` | | Smooth interpolation for the Joint Position Controller | `SMOOTH_JOINT_POSITION` | | State Estimators | Estimation Type Name | |:------------------|:-------| | Exponential Smoothing (Lowpass Filter) | `EXPONENTIAL_SMOOTHING` |