diff --git a/robosuite/controllers/config/default/parts/osc_pose.json b/robosuite/controllers/config/default/parts/osc_pose.json
index 94098779b8..8cd29dfaec 100644
--- a/robosuite/controllers/config/default/parts/osc_pose.json
+++ b/robosuite/controllers/config/default/parts/osc_pose.json
@@ -12,7 +12,8 @@
     "position_limits": null,
     "orientation_limits": null,
     "uncouple_pos_ori": true,
-    "control_delta": true,
+    "input_type": "delta",
+    "input_ref_frame": "base",
     "interpolation": null,
     "ramp_ratio": 0.2
   }
diff --git a/robosuite/controllers/config/default/parts/osc_position.json b/robosuite/controllers/config/default/parts/osc_position.json
index 0eb12b667f..42b314a792 100644
--- a/robosuite/controllers/config/default/parts/osc_position.json
+++ b/robosuite/controllers/config/default/parts/osc_position.json
@@ -10,7 +10,8 @@
     "kp_limits": [0, 300],
     "damping_ratio_limits": [0, 10],
     "position_limits": null,
-    "control_delta": true,
+    "input_type": "delta",
+    "input_ref_frame": "base",
     "interpolation": null,
     "ramp_ratio": 0.2
   }