> ## Documentation Index
> Fetch the complete documentation index at: https://docs.cyberwave.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Send Controller Command node

> Send a specific controller command to a twin with explicit controller and command selection.

The **Send Controller Command** (`send_controller_command`) node provides a direct way to dispatch controller commands to a digital twin. Unlike Virtual Controller (which resolves commands dynamically from upstream strings), this node lets you **explicitly select** the twin, controller policy, and specific command at configuration time.

<Note>
  **Palette category:** Actuation. Runs on **cloud** (Celery MQTT or inference dispatch) and **edge** (worker `client.mqtt.publish`, keyboard/teleop only). Model controllers (mlmodel/vla) are cloud-only.
</Note>

## Configuration flow

The inspector guides you through a three-step cascade:

1. **Select digital twin** — choose the target twin in the bound environment
2. **Select controller policy** — pick from compatible controllers (filtered by the twin's asset)
3. **Select command** (keyboard/teleop) or **configure instruction** (model controllers)

For keyboard/teleop controllers the command dropdown lists every available actuation from the policy's `keyboard_bindings` and `display_config.widgets`. For model controllers the **instruction** input accepts a text prompt for inference.

## Inputs

| Field                    | Type   | Required | Description                                                                                                      |
| ------------------------ | ------ | -------- | ---------------------------------------------------------------------------------------------------------------- |
| `twin_uuid`              | string | Yes      | Target twin. Set in inspector (Twin combobox).                                                                   |
| `controller_policy_uuid` | string | Yes      | Controller policy. Set in inspector (Controller dropdown).                                                       |
| `command`                | string | No       | Actuation string for keyboard/teleop controllers (e.g. `move_forward`). Set in inspector or wired from upstream. |
| `params`                 | object | No       | Command parameters (e.g. `{"linear_x": 1.5}`). Overrides binding defaults. Can be wired from upstream.           |
| `instruction`            | string | No       | Text prompt for model/VLA controllers. Ignored for keyboard controllers.                                         |

## Keyboard/teleop controllers

When a keyboard or teleop controller is selected:

* The command dropdown shows all available actuations with labels and key bindings
* The `params` input can override the binding's default `playground` data (velocity, etc.)
* At runtime the node publishes to `cyberwave/twin/{uuid}/command` with the same MQTT payload shape as keyboard teleoperation

### MQTT payload

```json theme={null}
{
  "source_type": "tele",
  "command": "move_forward",
  "data": {"linear_x": 1.5},
  "timestamp": 1710000000.0
}
```

| Field         | Cloud workflow                           | Edge worker               |
| ------------- | ---------------------------------------- | ------------------------- |
| `source_type` | `tele` (live) or `sim_tele` (simulation) | `edge`                    |
| `command`     | Selected actuation slug                  | Selected actuation slug   |
| `data`        | From `params` input or binding defaults  | From `params` input       |
| `timestamp`   | Server-side `time.time()`                | Worker-side `time.time()` |

## Model controllers (mlmodel/vla)

When a model controller is selected:

* The instruction input accepts a natural language prompt (e.g. "pick up the red block")
* Additional parameters (max\_steps, mode) can be passed via `params`
* At runtime the node dispatches inference through `ControllerPolicyExecutionService`
* Model controllers run **cloud-only** — edge compilation will fail

## Outputs

| Field                    | Type    | Description                           |
| ------------------------ | ------- | ------------------------------------- |
| `twin_uuid`              | string  | Target twin                           |
| `controller_policy_uuid` | string  | Controller policy used                |
| `controller_type`        | string  | e.g. `teleop`, `mlmodel`, `vla`       |
| `command`                | string  | Actuation or instruction sent         |
| `sent`                   | boolean | Whether the command was dispatched    |
| `topic`                  | string  | MQTT topic (keyboard/teleop)          |
| `payload`                | object  | Full MQTT payload or inference result |
| `source_type`            | string  | `tele` / `sim_tele` / `edge`          |

## When to use

| Scenario                                                             | Recommended node                                |
| -------------------------------------------------------------------- | ----------------------------------------------- |
| Send a **specific known command** (e.g. "move forward at speed 1.5") | **Send Controller Command**                     |
| Resolve a **dynamic command** from voice/text input                  | **Virtual Controller** + Fuzzy Matcher pipeline |
| Send a **raw MQTT message** with custom topic and payload            | **Send MQTT**                                   |

## Related nodes

* **Virtual Controller** — dynamic command resolution from upstream strings
* **Info Controller** — read controller policy metadata
* **Send MQTT** — generic MQTT publish