isaaclab_contrib.controllers

Sub-package for different controllers and motion-generators.

Controllers or motion generators are responsible for closed-loop tracking of a given command. The controller can be a simple PID controller or a more complex controller such as impedance control or inverse kinematics control. The controller is responsible for generating the desired joint-level commands to be sent to the robot.

Classes

LeeControllerBase	Base class for Lee-style geometric controllers.
LeeControllerBaseCfg	Base configuration for Lee-style geometric quadrotor controllers.
LeeAccController	Lee acceleration controller for multirotor tracking acceleration setpoints.
LeeAccControllerCfg	Configuration for a Lee-style geometric quadrotor acceleration controller.
LeeAttController	Lee attitude controller for multirotor tracking attitude setpoints.
LeeAttControllerCfg	Configuration for a Lee-style geometric quadrotor attitude controller.
LeePosController	Lee position controller for multirotor tracking position setpoints.
LeePosControllerCfg	Configuration for a Lee-style geometric quadrotor position controller.
LeeVelController	Lee velocity controller for multirotor tracking velocity setpoints.
LeeVelControllerCfg	Configuration for a Lee-style geometric quadrotor velocity controller.

Lee Base Controller

class isaaclab_contrib.controllers.LeeControllerBase

Bases: object

Base class for Lee-style geometric controllers.

Methods:

__init__(cfg, asset, num_envs, device)	Initialize controller buffers and pre-compute aggregate inertias.
reset()	Reset controller state for all environments.
reset_idx(env_ids)	Reset controller state (and optionally randomize gains) for selected environments.
compute(command)	Compute wrench command from input command.

__init__(cfg: LeeControllerBaseCfg, asset: Multirotor, num_envs: int, device: str)

Initialize controller buffers and pre-compute aggregate inertias.

Parameters:

• cfg – Controller configuration.

• asset – Multirotor asset to control.

• num_envs – Number of environments.

• device – Device to run computations on.

reset()

Reset controller state for all environments.

reset_idx(env_ids: torch.Tensor | None)

Reset controller state (and optionally randomize gains) for selected environments.

Parameters:

env_ids – Tensor of environment indices, or None for all.

compute(command: torch.Tensor) → torch.Tensor

Compute wrench command from input command.

Parameters:

command – Input command (shape depends on controller type).

Returns:

(num_envs, 6) wrench command [fx, fy, fz, tx, ty, tz] in body frame.

class isaaclab_contrib.controllers.LeeControllerBaseCfg

Bases: object

Base configuration for Lee-style geometric quadrotor controllers.

Unless otherwise noted, vectors are ordered as (x, y, z) in the simulation world/body frames. The controller gains are sampled uniformly per environment between their corresponding *_min and *_max bounds at reset.

Note

To disable randomization, set the min and max values to be identical. For example: K_rot_range = ((1.85, 1.85, 0.4), (1.85, 1.85, 0.4))

Attributes:

K_rot_range	Orientation (rotation) error proportional gain range about body axes [unitless].
K_angvel_range	Body angular-velocity error proportional gain range [unitless].
max_inclination_angle_rad	Maximum allowed roll/pitch magnitude (inclination) in radians.
max_yaw_rate	Maximum allowed yaw rate command [rad/s].

K_rot_range: tuple[tuple[float, float, float], tuple[float, float, float]]

Orientation (rotation) error proportional gain range about body axes [unitless].

This is a tuple of two tuples containing the minimum and maximum gains for roll, pitch, and yaw. Format: ((min_roll, min_pitch, min_yaw), (max_roll, max_pitch, max_yaw))

To disable randomization, set both tuples to the same values.

Example (with randomization):

((1.6, 1.6, 0.25), (1.85, 1.85, 0.4)) for ARL Robot 1

Example (without randomization):

((1.85, 1.85, 0.4), (1.85, 1.85, 0.4)) for fixed gains

K_angvel_range: tuple[tuple[float, float, float], tuple[float, float, float]]

Body angular-velocity error proportional gain range [unitless].

This is a tuple of two tuples containing the minimum and maximum gains for roll, pitch, and yaw rates. Format: ((min_roll_rate, min_pitch_rate, min_yaw_rate), (max_roll_rate, max_pitch_rate, max_yaw_rate))

To disable randomization, set both tuples to the same values.

Example (with randomization):

((0.4, 0.4, 0.075), (0.5, 0.5, 0.09)) for ARL Robot 1

Example (without randomization):

((0.5, 0.5, 0.09), (0.5, 0.5, 0.09)) for fixed gains

max_inclination_angle_rad: float

Maximum allowed roll/pitch magnitude (inclination) in radians.

This limits the maximum tilt angle of the quadrotor during control. Typical range: 0.5 to 1.57 radians (30° to 90°)

Example

1.0471975511965976 (60° in radians) for ARL Robot 1

max_yaw_rate: float

Maximum allowed yaw rate command [rad/s].

This limits the maximum rotational velocity about the z-axis. Typical range: 0.5 to 2.0 rad/s

Example

1.0471975511965976 (60°/s in radians) for ARL Robot 1

Lee Acceleration Controller

class isaaclab_contrib.controllers.LeeAccController

Bases: LeeControllerBase

Lee acceleration controller for multirotor tracking acceleration setpoints.

Computes a body-frame wrench command [Fx, Fy, Fz, Tx, Ty, Tz] from an acceleration setpoint in the world frame. Gains may be randomized per environment if enabled in the configuration.

Methods:

__init__(cfg, asset, num_envs, device)	Initialize controller.
compute(command)	Compute wrench command from acceleration setpoint.
reset()	Reset controller state for all environments.
reset_idx(env_ids)	Reset controller state (and optionally randomize gains) for selected environments.

__init__(cfg: LeeAccControllerCfg, asset: Multirotor, num_envs: int, device: str)

Initialize controller.

Parameters:

• cfg – Controller configuration.

• asset – Multirotor asset to control.

• num_envs – Number of environments.

• device – Device to run computations on.

compute(command: torch.Tensor) → torch.Tensor

Compute wrench command from acceleration setpoint.

Parameters:

command – (num_envs, 4) acceleration command command [ax, ay, az, yaw_rate] in body frame.

Returns:

(num_envs, 6) wrench command [fx, fy, fz, tx, ty, tz] in body frame.

reset()

Reset controller state for all environments.

reset_idx(env_ids: torch.Tensor | None)

Reset controller state (and optionally randomize gains) for selected environments.

Parameters:

env_ids – Tensor of environment indices, or None for all.

class isaaclab_contrib.controllers.LeeAccControllerCfg

Bases: LeeControllerBaseCfg

Configuration for a Lee-style geometric quadrotor acceleration controller.

Unless otherwise noted, vectors are ordered as (x, y, z) in the simulation world/body frames. The acceleration controller gains are sampled uniformly per environment between their corresponding *_min and *_max bounds at reset.

Attributes:

K_rot_range	Orientation (rotation) error proportional gain range about body axes [unitless].
K_angvel_range	Body angular-velocity error proportional gain range [unitless].
max_inclination_angle_rad	Maximum allowed roll/pitch magnitude (inclination) in radians.
max_yaw_rate	Maximum allowed yaw rate command [rad/s].

K_rot_range: tuple[tuple[float, float, float], tuple[float, float, float]]

Orientation (rotation) error proportional gain range about body axes [unitless].

This is a tuple of two tuples containing the minimum and maximum gains for roll, pitch, and yaw. Format: ((min_roll, min_pitch, min_yaw), (max_roll, max_pitch, max_yaw))

To disable randomization, set both tuples to the same values.

Example (with randomization):

((1.6, 1.6, 0.25), (1.85, 1.85, 0.4)) for ARL Robot 1

Example (without randomization):

((1.85, 1.85, 0.4), (1.85, 1.85, 0.4)) for fixed gains

K_angvel_range: tuple[tuple[float, float, float], tuple[float, float, float]]

Body angular-velocity error proportional gain range [unitless].

This is a tuple of two tuples containing the minimum and maximum gains for roll, pitch, and yaw rates. Format: ((min_roll_rate, min_pitch_rate, min_yaw_rate), (max_roll_rate, max_pitch_rate, max_yaw_rate))

To disable randomization, set both tuples to the same values.

Example (with randomization):

((0.4, 0.4, 0.075), (0.5, 0.5, 0.09)) for ARL Robot 1

Example (without randomization):

((0.5, 0.5, 0.09), (0.5, 0.5, 0.09)) for fixed gains

max_inclination_angle_rad: float

Maximum allowed roll/pitch magnitude (inclination) in radians.

This limits the maximum tilt angle of the quadrotor during control. Typical range: 0.5 to 1.57 radians (30° to 90°)

Example

1.0471975511965976 (60° in radians) for ARL Robot 1

max_yaw_rate: float

Maximum allowed yaw rate command [rad/s].

This limits the maximum rotational velocity about the z-axis. Typical range: 0.5 to 2.0 rad/s

Example

1.0471975511965976 (60°/s in radians) for ARL Robot 1

Lee Attitude Controller

class isaaclab_contrib.controllers.LeeAttController

Bases: LeeControllerBase

Lee attitude controller for multirotor tracking attitude setpoints.

Computes a body-frame wrench command [Fx, Fy, Fz, Tx, Ty, Tz] from an attitude setpoint in the world frame. Gains may be randomized per environment if enabled in the configuration.

Methods:

__init__(cfg, asset, num_envs, device)	Initialize controller.
compute(command)	Compute wrench command from attitude setpoint.
reset()	Reset controller state for all environments.
reset_idx(env_ids)	Reset controller state (and optionally randomize gains) for selected environments.

__init__(cfg: LeeAttControllerCfg, asset: Multirotor, num_envs: int, device: str)

Initialize controller.

Parameters:

• cfg – Controller configuration.

• asset – Multirotor asset to control.

• num_envs – Number of environments.

• device – Device to run computations on.

compute(command: torch.Tensor) → torch.Tensor

Compute wrench command from attitude setpoint.

Parameters:

command – (num_envs, 4) attitude command command [thrust, roll, pitch, yaw_rate] in body frame.

Returns:

(num_envs, 6) wrench command [fx, fy, fz, tx, ty, tz] in body frame.

reset()

Reset controller state for all environments.

reset_idx(env_ids: torch.Tensor | None)

Reset controller state (and optionally randomize gains) for selected environments.

Parameters:

env_ids – Tensor of environment indices, or None for all.

class isaaclab_contrib.controllers.LeeAttControllerCfg

Bases: LeeControllerBaseCfg

Configuration for a Lee-style geometric quadrotor attitude controller.

Unless otherwise noted, vectors are ordered as (x, y, z) in the simulation world/body frames. The attitude controller gains are sampled uniformly per environment between their corresponding *_min and *_max bounds at reset.

Attributes:

K_rot_range	Orientation (rotation) error proportional gain range about body axes [unitless].
K_angvel_range	Body angular-velocity error proportional gain range [unitless].
max_inclination_angle_rad	Maximum allowed roll/pitch magnitude (inclination) in radians.
max_yaw_rate	Maximum allowed yaw rate command [rad/s].

K_rot_range: tuple[tuple[float, float, float], tuple[float, float, float]]

Orientation (rotation) error proportional gain range about body axes [unitless].

This is a tuple of two tuples containing the minimum and maximum gains for roll, pitch, and yaw. Format: ((min_roll, min_pitch, min_yaw), (max_roll, max_pitch, max_yaw))

To disable randomization, set both tuples to the same values.

Example (with randomization):

((1.6, 1.6, 0.25), (1.85, 1.85, 0.4)) for ARL Robot 1

Example (without randomization):

((1.85, 1.85, 0.4), (1.85, 1.85, 0.4)) for fixed gains

K_angvel_range: tuple[tuple[float, float, float], tuple[float, float, float]]

Body angular-velocity error proportional gain range [unitless].

This is a tuple of two tuples containing the minimum and maximum gains for roll, pitch, and yaw rates. Format: ((min_roll_rate, min_pitch_rate, min_yaw_rate), (max_roll_rate, max_pitch_rate, max_yaw_rate))

To disable randomization, set both tuples to the same values.

Example (with randomization):

((0.4, 0.4, 0.075), (0.5, 0.5, 0.09)) for ARL Robot 1

Example (without randomization):

((0.5, 0.5, 0.09), (0.5, 0.5, 0.09)) for fixed gains

max_inclination_angle_rad: float

Maximum allowed roll/pitch magnitude (inclination) in radians.

This limits the maximum tilt angle of the quadrotor during control. Typical range: 0.5 to 1.57 radians (30° to 90°)

Example

1.0471975511965976 (60° in radians) for ARL Robot 1

max_yaw_rate: float

Maximum allowed yaw rate command [rad/s].

This limits the maximum rotational velocity about the z-axis. Typical range: 0.5 to 2.0 rad/s

Example

1.0471975511965976 (60°/s in radians) for ARL Robot 1

Lee Position Controller

class isaaclab_contrib.controllers.LeePosController

Bases: LeeControllerBase

Lee position controller for multirotor tracking position setpoints.

Computes a body-frame wrench command [Fx, Fy, Fz, Tx, Ty, Tz] from a position setpoint in the world frame. Gains may be randomized per environment if enabled in the configuration.

Methods:

__init__(cfg, asset, num_envs, device)	Initialize controller.
compute(command)	Compute wrench command from position setpoint.
reset()	Reset controller state for all environments.
reset_idx(env_ids)	Reset controller state (and optionally randomize gains) for selected environments.

__init__(cfg: LeePosControllerCfg, asset: Multirotor, num_envs: int, device: str)

Initialize controller.

Parameters:

• cfg – Controller configuration.

• asset – Multirotor asset to control.

• num_envs – Number of environments.

• device – Device to run computations on.

compute(command: torch.Tensor) → torch.Tensor

Compute wrench command from position setpoint.

Parameters:

command – (num_envs, 4) [x, y, z, yaw] in body frame.

Returns:

(num_envs, 6) wrench command [fx, fy, fz, tx, ty, tz] in body frame.

reset()

Reset controller state for all environments.

reset_idx(env_ids: torch.Tensor | None)

Reset controller state (and optionally randomize gains) for selected environments.

Parameters:

env_ids – Tensor of environment indices, or None for all.

class isaaclab_contrib.controllers.LeePosControllerCfg

Bases: LeeControllerBaseCfg

Configuration for a Lee-style geometric quadrotor position controller.

Unless otherwise noted, vectors are ordered as (x, y, z) in the simulation world/body frames. The position controller gains are sampled uniformly per environment between their corresponding *_min and *_max bounds at reset.

Attributes:

K_rot_range	Orientation (rotation) error proportional gain range about body axes [unitless].
K_angvel_range	Body angular-velocity error proportional gain range [unitless].
max_inclination_angle_rad	Maximum allowed roll/pitch magnitude (inclination) in radians.
max_yaw_rate	Maximum allowed yaw rate command [rad/s].
K_pos_range	Position error proportional gain range about body axes [unitless].
K_vel_range	Velocity error proportional gain range about body axes [unitless].

K_rot_range: tuple[tuple[float, float, float], tuple[float, float, float]]

Orientation (rotation) error proportional gain range about body axes [unitless].

This is a tuple of two tuples containing the minimum and maximum gains for roll, pitch, and yaw. Format: ((min_roll, min_pitch, min_yaw), (max_roll, max_pitch, max_yaw))

To disable randomization, set both tuples to the same values.

Example (with randomization):

((1.6, 1.6, 0.25), (1.85, 1.85, 0.4)) for ARL Robot 1

Example (without randomization):

((1.85, 1.85, 0.4), (1.85, 1.85, 0.4)) for fixed gains

K_angvel_range: tuple[tuple[float, float, float], tuple[float, float, float]]

Body angular-velocity error proportional gain range [unitless].

This is a tuple of two tuples containing the minimum and maximum gains for roll, pitch, and yaw rates. Format: ((min_roll_rate, min_pitch_rate, min_yaw_rate), (max_roll_rate, max_pitch_rate, max_yaw_rate))

To disable randomization, set both tuples to the same values.

Example (with randomization):

((0.4, 0.4, 0.075), (0.5, 0.5, 0.09)) for ARL Robot 1

Example (without randomization):

((0.5, 0.5, 0.09), (0.5, 0.5, 0.09)) for fixed gains

max_inclination_angle_rad: float

Maximum allowed roll/pitch magnitude (inclination) in radians.

This limits the maximum tilt angle of the quadrotor during control. Typical range: 0.5 to 1.57 radians (30° to 90°)

Example

1.0471975511965976 (60° in radians) for ARL Robot 1

max_yaw_rate: float

Maximum allowed yaw rate command [rad/s].

This limits the maximum rotational velocity about the z-axis. Typical range: 0.5 to 2.0 rad/s

Example

1.0471975511965976 (60°/s in radians) for ARL Robot 1

K_pos_range: tuple[tuple[float, float, float], tuple[float, float, float]]

Position error proportional gain range about body axes [unitless].

This is a tuple of two tuples containing the minimum and maximum gains for each axis (x, y, z). Format: ((min_x, min_y, min_z), (max_x, max_y, max_z))

Example

((3.0, 3.0, 2.0), (4.0, 4.0, 2.5)) for ARL Robot 1

K_vel_range: tuple[tuple[float, float, float], tuple[float, float, float]]

Velocity error proportional gain range about body axes [unitless].

This is a tuple of two tuples containing the minimum and maximum gains for each axis (x, y, z). Format: ((min_x, min_y, min_z), (max_x, max_y, max_z))

Example

((2.5, 2.5, 1.5), (3.5, 3.5, 2.0)) for ARL Robot 1

Lee Velocity Controller

class isaaclab_contrib.controllers.LeeVelController

Bases: LeeControllerBase

Lee velocity controller for multirotor tracking velocity setpoints.

Computes a body-frame wrench command [Fx, Fy, Fz, Tx, Ty, Tz] from a velocity setpoint: [vx, vy, vz, yaw_rate]. Gains may be randomized per environment if enabled in the configuration.

Methods:

__init__(cfg, asset, num_envs, device)	Initialize controller.
compute(command)	Compute wrench command from velocity setpoint.
reset()	Reset controller state for all environments.
reset_idx(env_ids)	Reset controller state (and optionally randomize gains) for selected environments.

__init__(cfg: LeeVelControllerCfg, asset: Multirotor, num_envs: int, device: str)

Initialize controller.

Parameters:

• cfg – Controller configuration.

• asset – Multirotor asset to control.

• num_envs – Number of environments.

• device – Device to run computations on.

compute(command: torch.Tensor) → torch.Tensor

Compute wrench command from velocity setpoint.

Parameters:

command – (num_envs, 4) velocity command [vx, vy, vz, yaw_rate] in body frame.

Returns:

(num_envs, 6) wrench command [fx, fy, fz, tx, ty, tz] in body frame.

reset()

Reset controller state for all environments.

reset_idx(env_ids: torch.Tensor | None)

Reset controller state (and optionally randomize gains) for selected environments.

Parameters:

env_ids – Tensor of environment indices, or None for all.

class isaaclab_contrib.controllers.LeeVelControllerCfg

Bases: LeeControllerBaseCfg

Configuration for a Lee-style geometric quadrotor velocity controller.

Unless otherwise noted, vectors are ordered as (x, y, z) in the simulation world/body frames. The velocity controller gains are sampled uniformly per environment between their corresponding *_min and *_max bounds at reset.

Attributes:

K_rot_range	Orientation (rotation) error proportional gain range about body axes [unitless].
K_angvel_range	Body angular-velocity error proportional gain range [unitless].
max_inclination_angle_rad	Maximum allowed roll/pitch magnitude (inclination) in radians.
max_yaw_rate	Maximum allowed yaw rate command [rad/s].
K_vel_range	Velocity error proportional gain range about body axes [unitless].

K_rot_range: tuple[tuple[float, float, float], tuple[float, float, float]]

Orientation (rotation) error proportional gain range about body axes [unitless].

This is a tuple of two tuples containing the minimum and maximum gains for roll, pitch, and yaw. Format: ((min_roll, min_pitch, min_yaw), (max_roll, max_pitch, max_yaw))

To disable randomization, set both tuples to the same values.

Example (with randomization):

((1.6, 1.6, 0.25), (1.85, 1.85, 0.4)) for ARL Robot 1

Example (without randomization):

((1.85, 1.85, 0.4), (1.85, 1.85, 0.4)) for fixed gains

K_angvel_range: tuple[tuple[float, float, float], tuple[float, float, float]]

Body angular-velocity error proportional gain range [unitless].

This is a tuple of two tuples containing the minimum and maximum gains for roll, pitch, and yaw rates. Format: ((min_roll_rate, min_pitch_rate, min_yaw_rate), (max_roll_rate, max_pitch_rate, max_yaw_rate))

To disable randomization, set both tuples to the same values.

Example (with randomization):

((0.4, 0.4, 0.075), (0.5, 0.5, 0.09)) for ARL Robot 1

Example (without randomization):

((0.5, 0.5, 0.09), (0.5, 0.5, 0.09)) for fixed gains

max_inclination_angle_rad: float

Maximum allowed roll/pitch magnitude (inclination) in radians.

This limits the maximum tilt angle of the quadrotor during control. Typical range: 0.5 to 1.57 radians (30° to 90°)

Example

1.0471975511965976 (60° in radians) for ARL Robot 1

max_yaw_rate: float

Maximum allowed yaw rate command [rad/s].

This limits the maximum rotational velocity about the z-axis. Typical range: 0.5 to 2.0 rad/s

Example

1.0471975511965976 (60°/s in radians) for ARL Robot 1

K_vel_range: tuple[tuple[float, float, float], tuple[float, float, float]]

Velocity error proportional gain range about body axes [unitless].

This is a tuple of two tuples containing the minimum and maximum gains for each axis (x, y, z). Format: ((min_x, min_y, min_z), (max_x, max_y, max_z))

Example

((2.5, 2.5, 1.5), (3.5, 3.5, 2.0)) for ARL Robot 1