Scenes

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Existing Scenes

GRID Enterprise currently supports the following environments for the tasks for locomotion and manipulation respectively:

1. Groundplane – A simple flat surface environment, ideal for testing basic robot movement.
2. Warehouse – A storage area with shelving units and objects that can be placed on them.
3. Full Warehouse – A more extensive warehouse setting featuring additional shelves and objects.
4. Hospital – A medical facility with multiple rooms and designated spaces.
5. Office – A workspace environment with rooms and an open-plan layout.
6. Strawberry Farm – An outdoor farming area featuring rows of strawberry plants, pathways for movement, and farming equipment.
7. Tabletop – A small-scale environment designed for manipulation tasks, featuring a flat surface with objects for interaction. We only support the use of manipulation arms in this environment.
8. Kitchen – A larger, more complex environment modeled after a typical home kitchen. It includes countertops, cabinets, a microwave, a stove, a refrigerator, a dishwasher, and various kitchen utensils or appliances. This environment is intended to support more advanced tasks, such as opening and closing cabinets, loading and unloading dishwasher, etc., providing opportunities for both fine-grained and high-level manipulation.

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Custom Scenes

Scenes outside of the ones provided can be loaded using USD files. Following is an example of how to add a custom scene by modifying the scene_cfg.yaml.

- terrain:
    type: static
    name: CustomUSD 
    config:
      prim_path: /World/ground
      init_state:
        pos: [0.0, 0.0, 0.0] # add init (x, y, z) position  
        rot: [0.0, 0.0, 0.0, 0.0] # add init (x, y, z, w) quaternion
      spawn:
        usd_path: "path_to_usd_here" # add scene's USD path here