> ## Documentation Index
> Fetch the complete documentation index at: https://scaledfoundations-rebrand.mintlify.site/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-rebrand/Xi7Qx08aC4xdqlWX/assets/images/robots_isaac.png?maxW=3385&auto=format&n=Xi7Qx08aC4xdqlWX&q=85&s=2afa4b90e1f97b948d79ca08317446ca" 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

* **Hands:**
  * Inspire 5-Finger Robot Hand
  * Allegro Hand
  * Shadowhand

* **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>