diff --git a/docs/source/api/lab/isaaclab.controllers.pink_ik.rst b/docs/source/api/lab/isaaclab.controllers.pink_ik.rst
new file mode 100644
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@@ -0,0 +1,34 @@
+isaaclab.controllers.pink_ik
+=============================
+
+.. automodule:: isaaclab.controllers.pink_ik
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    PinkIKController
+    PinkIKControllerCfg
+    NullSpacePostureTask
+
+Pink IK Controller
+------------------
+
+.. autoclass:: PinkIKController
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: PinkIKControllerCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+Pink IK Tasks
+-------------
+
+.. autoclass:: NullSpacePostureTask
+    :members:
+    :inherited-members:
+    :show-inheritance: