Controllers

Tool Reference

The isaacsim.robot_motion.controllers extension provides GPU-accelerated, ready-to-use wheeled-robot motion controllers that implement the BaseController interface from the Motion Generation API. Each controller converts a velocity command — expressed as a RobotState site setpoint — into the joint targets needed to drive the robot.

Tutorial	Description
Differential Drive Tutorial	Drive a Jetbot using DifferentialDriveController. Covers wheel geometry parameters, velocity setpoint encoding, and applying joint velocity outputs to the articulation.
Ackermann Tutorial	Control a car-like Leatherback or rear-steer ForkliftC using AckermannController. Covers velocity-vector encoding, direct-command mode, and configuring front vs. rear steering layouts.
Holonomic Tutorial	Drive a Kaya robot with full lateral mobility using HolonomicController. Covers reading wheel geometry from USD with HolonomicRobotUsdSetup, mecanum angle configuration, and body-twist setpoints.