> ## 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.

# Robots

GRID Enterprise comes with support for a number of robots in Isaac Sim with different form factors, including quadrupeds, humanoids, manipulation arms, bipeds, and hybrid form factors (comprising of two or more form factors).

<img src="https://mintcdn.com/scaledfoundations/bbcuyC2Oq40Jh0Ty/assets/images/robots_isaac.png?fit=max&auto=format&n=bbcuyC2Oq40Jh0Ty&q=85&s=1c33f8a396ee0ec33ad829f98ae6c243" alt="Robots" width="3385" height="1784" data-path="assets/images/robots_isaac.png" />

Here is a list of all robots currently supported by GRID on Isaac Sim:

* **Quadrupeds:**
  * Unitree Go2
  * Unitree Go1
  * Unitree A1
  * Boston Dynamics Spot
  * ANYmal B, C, D

* **Humanoids:**
  * Unitree G1
  * Unitree H1
  * Agility Digit

* **Manipulation Arms:**
  * UR5e
  * UR10
  * Franka Emika
  * Kinova Jaco2
  * Kinova Gen3
  * Rethink Robotics Sawyer
  * Trossen WidowX AI

* **Bimanual Arms:**
  * Trossen Mobile AI
  * Trossen Stationary AI

* **Hands:**
  * Allegro Hand
  * Shadowhand
  * Unitree Dex3-1

* **Grippers:**
  * Robotiq 2F‑85 Parallel Gripper
  * Robotiq 2F‑140 Parallel Gripper
  * Suction Gripper

* **Bipeds:**
  * Agility Cassie

* **Wheeled:**
  * Farm Ng Amiga

* **Hybrid Form Factors:**
  * Ridgeback with Franka
  * Ridgeback with UR10
  * Farm Ng Amiga with UR5e

<Note>
  We are constantly updating our offering of robots and if you want your favorite robot to be added to the list, please let us know on our [Discord Community](https://discord.gg/yPtfUNDe5M) or reach out to us on our [email](mailto:info@generalrobotics.company).
</Note>