isaaclab.controllers
====================

.. automodule:: isaaclab.controllers

  .. rubric:: Classes

  .. autosummary::

    DifferentialIKController
    DifferentialIKControllerCfg
    OperationalSpaceController
    OperationalSpaceControllerCfg
    PinkIKController
    PinkIKControllerCfg
    pink_ik.NullSpacePostureTask

Differential Inverse Kinematics
-------------------------------

.. autoclass:: DifferentialIKController
    :members:
    :inherited-members:
    :show-inheritance:

.. autoclass:: DifferentialIKControllerCfg
    :members:
    :inherited-members:
    :show-inheritance:
    :exclude-members: __init__, class_type

Operational Space controllers
-----------------------------

.. autoclass:: OperationalSpaceController
    :members:
    :inherited-members:
    :show-inheritance:

.. autoclass:: OperationalSpaceControllerCfg
    :members:
    :inherited-members:
    :show-inheritance:
    :exclude-members: __init__, class_type

Differential Inverse Kinematics Controllers (Based on Pink)
-----------------------------------------------------------

For detailed documentation of Pink IK controllers and tasks, see:

.. toctree::
   :maxdepth: 1

   isaaclab.controllers.pink_ik