> ## 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 scene

> Drive the Isaac Sim *scene* rather than the robot in it

Drive the Isaac Sim *scene* rather than the robot in it — move props, read object poses, and reset between trials. Generic pub/sub over a topic registry, so one client covers every scene interaction.

## 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 import IsaacClient

client = IsaacClient()

# Topics are addressed by key; the client handles CDR serialization.
client.pub("set_object_pose", {
    "position": {"x": 1.0, "y": 2.0, "z": 0.5},
    "orientation": {"x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0},
})

# Subscribe, then poll for the latest value.
client.sub("get_object_pose")
pose = client.get("get_object_pose")
```

To drive the robot in the scene rather than the scene itself, see **Isaac robots**. The AirGen backend is documented under **AirGen robots**.

## Classes

* [`IsaacClient`](/python-api/isaac-scene/isaacclient)
* [`IsaacClientBundle`](/python-api/isaac-scene/isaacclientbundle)
* [`ZenohSession`](/python-api/isaac-scene/zenohsession)
* [`ZenohClient`](/python-api/isaac-scene/zenohclient)
* [`GenericClient`](/python-api/isaac-scene/genericclient)
* [`ImageClient`](/python-api/isaac-scene/imageclient)
* [`JointAngleClient`](/python-api/isaac-scene/jointangleclient)
* [`PoseClient`](/python-api/isaac-scene/poseclient)
* [`VelocityClient`](/python-api/isaac-scene/velocityclient)
* [`WrenchClient`](/python-api/isaac-scene/wrenchclient)


## Related topics

- [Environment Config](/simulation/isaac/session_configuration/env.md)
- [Overview](/simulation/isaac/overview.md)
- [Sensors](/simulation/isaac/sensors.md)
- [VR Teleop Guide](/simulation/isaac/teleoperation/vr-teleop-guide.md)
- [Customizing RL Training](/simulation/isaac/reinforcement-learning/customizing-training.md)