# Using Robot Controllers

In this page, we are going to give a quick go through of all the controllers we have implemented and how to use them. Here is a summary table for different controllers. 


| Example scripts | Controllers |
|:------------------|:------------------------------------|
|[examples/osc_control.py](https://github.com/UT-Austin-RPL/deoxys_control/blob/main/deoxys/examples/osc_control.py) | `OSC_POSE` <br/> `OSC_POSITION` <br/> `OSC_YAW` |
|[examples/joint_position_control.py](https://github.com/UT-Austin-RPL/deoxys_control/blob/main/deoxys/examples/joint_position_control.py) | `JOINT_POSITION` |
|[examples/joint_impedance_control.py](https://github.com/UT-Austin-RPL/deoxys_control/blob/main/deoxys/examples/joint_impedance_control.py) | `JOINT_IMPEDANCE` |

## Run OSC Controllers

In this example, we will run different variants of OSC controllers with a fixed sequence of control commands.

### `OSC_POSE`

```shell
python examples/osc_control.py --controller-type OSC_POSE
```

### `OSC_POSITION`

```shell
python examples/osc_control.py --controller-type OSC_POSITION
```

### `OSC_POSITION`

```shell
python examples/osc_control.py --controller-type OSC_YAW
```

## Run Joint Space Controllers

### `JOINT_IMPEDANCE`

```shell
python examples/joint_impedance_control.py
```

### `JOINT_POSITION`

```shell
python examples/joint_position_control.py
```