Deoxys (deoxys_control)

UT Austin's open-source Franka control library, built around operational space control.

Deoxys (repository deoxys_control) is a Franka control library written by Yifeng Zhu at UT Austin's Robot Perception and Learning Lab (RPL) and open-sourced in 2022. It assumes two computers. A GPU desktop runs the Python side, where policies or teleoperation scripts send commands, 20 times per second by default. A NUC with a real-time kernel runs the C++ control program, which interpolates between consecutive commands and drives the arm through libfranka in real time; the two sides exchange Protobuf messages over ZeroMQ. Its focus is task-space impedance control: OSC_POSE is 6-DoF operational space control (also called Cartesian impedance control), with simplified position-only and position-plus-yaw variants alongside joint impedance, joint position and other controllers. It keeps robosuite's interface conventions, which makes moving simulation code to the real arm fairly smooth, and the real-robot experiments of MimicPlay, VoxPoser and MimicGen were built on it. The official install script only guarantees libfranka 0.8.0 and 0.9.0, the Panda versions; FR3 needs at least 0.10.0, which the script explicitly does not guarantee.

ExampleAn imitation-learning policy on the desktop outputs an end-effector pose delta every 50 ms and calls robot_interface.control(controller_type="OSC_POSE", action=...) to send it to the NUC, which interpolates and executes it under impedance control; to collect demonstrations, run the SpaceMouse teleoperation script that ships with the repository.

Also called

deoxys_control

Related

libfranka / Franka Control Interface (FCI) · Operational Space Control · Cartesian Impedance Control · ZeroMQ · robosuite · SpaceMouse Teleoperation · Intel NUC (Next Unit of Computing)

Sources

UT-Austin-RPL/deoxys_control (GitHub)
Deoxys documentation: Overview
Deoxys documentation: Controllers Overview

As of

2026-10