> ## 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.

# IsaacClientBundle

> Owns or views the Zenoh clients backing an Isaac robot

```python theme={null}
from grid_sim_client.isaac import IsaacClientBundle
```

Owns or views the Zenoh clients backing an Isaac robot.

## Fields

<ResponseField name="clients" type="dict[str, Any]" />

<ResponseField name="session_owner" type="Optional[ZenohSession]" default="None" />

<ResponseField name="shared_session" type="Any" default="None" />

<ResponseField name="velocity_clients" type="list[VelocityClient]" />

<ResponseField name="pose_clients" type="list[PoseClient]" />

<ResponseField name="image_clients" type="list[ImageClient]" />

<ResponseField name="joint_angle_clients" type="list[JointAngleClient]" />

<ResponseField name="wrench_clients" type="list[WrenchClient]" />

## Constructor

```python Signature theme={null}
IsaacClientBundle(
    clients: dict[str, Any],
    session_owner: Optional[ZenohSession] = None,
    shared_session: Any = None,
    velocity_clients: list[VelocityClient] = list(),
    pose_clients: list[PoseClient] = list(),
    image_clients: list[ImageClient] = list(),
    joint_angle_clients: list[JointAngleClient] = list(),
    wrench_clients: list[WrenchClient] = list(),
    _running: bool = False,
    _stopped: bool = False,
)
```

## Methods

### `from_config()`

```python Signature theme={null}
from_config(
    client_config: dict,
    agent_config: Optional[dict] = None,
) -> 'IsaacClientBundle'
```

### `from_existing()`

```python Signature theme={null}
from_existing(
    clients: dict[str, Any],
    *,
    shared_session: Any = None,
    session_owner: Optional[ZenohSession] = None,
) -> 'IsaacClientBundle'
```

### `run()`

```python Signature theme={null}
run() -> None
```

### `stop()`

```python Signature theme={null}
stop() -> None
```


## Related topics

- [Get started](/get-started/installation.md)
- [CLI reference](/cli/reference.md)
- [Common FAQs](/faq/common-faqs.md)
- [Your first session](/get-started/first-session.md)
- [Overview](/simulation/isaac/overview.md)