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Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Hi everyone,

I’m diving into Isaac Sim’s robot controllers and noticed that nearly all of them—DifferentialController, HolonomicController, WheelBasePoseController, PickPlaceController, etc.—inherit from BaseController. Sample code: Adding a Controller — Isaac Sim Documentation

from isaacsim.core.api.controllers import BaseController

…but there’s no API entry or guide for BaseController itself. Could someone point me to the BaseController docs?

I also noticed that the ArticulationController actually inherits from object, not BaseController—is there anything special about that?

Thanks

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Thanks for raising this question. We’ll create an internal ticket to add the BaseController to the documentation.

In the meantime, to understand it, You can find it in your Isaac Sim installation under:

~/isaacsim/exts/isaacsim.core.api/isaacsim/core/api/controllers/base_controller.py
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Thanks for your reply, I will check the code mentioned!