> ## Documentation Index
> Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt
> Use this file to discover all available pages before exploring further.

# Isaac robots

> Robots in the Isaac Sim simulator

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

```bash theme={null}
# 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

```python theme={null}
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

* [`IsaacArm`](/python-api/isaac-robots/isaacarm)
* [`IsaacBimanual`](/python-api/isaac-robots/isaacbimanual)
* [`IsaacMobileBimanual`](/python-api/isaac-robots/isaacmobilebimanual)
* [`IsaacHumanoid`](/python-api/isaac-robots/isaachumanoid)
* [`IsaacLocomotion`](/python-api/isaac-robots/isaaclocomotion)


## Related topics

- [Overview](/simulation/isaac/overview.md)
- [Environment Config](/simulation/isaac/session_configuration/env.md)
- [Training Workflow](/simulation/isaac/reinforcement-learning/training-workflow.md)
- [ROS2 Communication](/simulation/isaac/comms.md)
- [VR Teleop Guide](/simulation/isaac/teleoperation/vr-teleop-guide.md)