> ## 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.

# Overview

The GRID Robot API provides a unified interface for controlling different types of robots, whether simulated or real. This abstraction allows you to write code that works seamlessly across different robot form factors and environments.

## Key Features

* **Unified Interface**: Same API for real and simulated robots
* **Form Factor Support**:
  * Wheeled robots
  * Robotic arms
  * Legged robots
  * Aerial robots
* **Environment Agnostic**: Code works in both simulation and real-world
* **Sensor Integration**: Standardized access to cameras, LiDAR, and other sensors

## Same Code, Different Robots

The API maintains consistent method names and parameters across different robots:

```python theme={null}
# Wheeled robot in simulation
from grid.robot.wheeled import AirGenCar

car = AirGenCar()
car.getPosition()  # Returns Position(x, y, z)
car.getOrientation()  # Returns Orientation(x, y, z, w)

# Aerial robot in real world
from grid.robot.aerial import ModalaiDrone

drone = ModalaiDrone()
drone.getPosition()  # Same method returns Position
drone.getOrientation()  # Same method returns Orientation
```

### Sensor Access

Access to sensor data across platforms:

```python theme={null}
# Get camera image from real robot
from grid.robot.aerial import ModalaiDrone

drone = ModalaiDrone()
rgb_image = drone.getImage("front_center", "rgb")

# Get camera image from simulated robot
from grid.robot.wheeled import AirGenCar

car = AirGenCar()
rgb_image = car.getImage("front_center", "rgb")
```

## Common Base Classes

The API is built on a hierarchy of base classes that ensure consistent behavior:

* **Robot**: Base class for all robots
  * **Wheeled**: For wheeled platforms
  * **Arm**: For robotic arms
  * **Aerial**: For aerial vehicles
  * **Locomotion**: For legged robots

## Key Concepts

1. **Common Types and APIs**

2. **Movement Control**
   * High-level movement commands
   * Low-level control when needed

3. **Sensor Integration**
   * Standard image types: rgb, depth, segmentation
   * Common data formats across platforms

## Available Robots

### Wheeled Robots

* [AirGenCar](/robot-api/reference/robot/wheeled/airgen_car/AirGenCar#airgencar) (Simulation)

### Robotic Arms

* [UR5e](/robot-api/reference/robot/arm/ur5e/UR5e#ur5e) (Real)
* [IsaacArm](/robot-api/reference/robot/arm/isaac_arm/IsaacArm#isaacarm) (Simulation)

### Aerial Robots

* [ModalaiDrone](/robot-api/reference/robot/aerial/modalai_drone/ModalaiDrone#modalaidrone) (Real)
* [AirGenDrone](/robot-api/reference/robot/aerial/airgen_drone/AirGenDrone#airgendrone) (Simulation)

### Legged Robots

* [Unitree Go2](/robot-api/reference/robot/quadruped/go2/Go2#go2) (Real)
* [IsaacLocomotion](/robot-api/reference/robot/locomotion/isaac_locomotion/IsaacLocomotion#isaaclocomotion) (Simulation)

### Humanoid Robots

* [IsaacHumanoid](/robot-api/reference/robot/humanoid/isaac_humanoid/IsaacHumanoid#isaachumanoid) (Simulation)