GRID Docs | General Robotics

Robots in the Isaac Sim simulator — GRID’s NVIDIA Isaac backend. Each class implements the same neutral robot interface as a physical robot, so code written against a simulated arm runs against a real one.

Install

# Preinstalled in every GRID simulation session — the generated notebook
# already imports it. For local use, install from the GRID package index
# with your organization's read-only credentials:
export UV_INDEX_GRID_PYPI_USERNAME=<username>
export UV_INDEX_GRID_PYPI_PASSWORD=<token>
uv pip install grid-sim-client --index grid-pypi=https://pypi.generalrobotics.dev/simple/

Quickstart

from grid_sim_client.isaac.robot import IsaacArm

# In a GRID simulation session the notebook creates this for you.
arm = IsaacArm()
arm.setJointAngles([0.0, -1.2, 1.5, 0.0, 1.2, 0.0])

The methods these classes expose are defined by the Robot interface. The AirGen equivalents are AirGen robots. Simulation sessions are covered in the Simulation section of the sidebar.

Classes

Related topics

Overview Environment Config Training Workflow ROS2 Communication VR Teleop Guide

⌘I