This section provides detailed information on how to use the GRID Enterprise Command-Line Interface (CLI). The GRID CLI acts as an orchestration module for the GRID containers and sessions. Run it by typing grid at the terminal in the appropriate Python virtual environment.
Below is a list of the available commands in the GRID Enterprise CLI. Resource targeting is done using the @resource_name syntax, defaulting to @local if no resource is specified. In this document, we will assume that the GRID containers are running on the same machine as the CLI, which is the most straightforward setup.
The first step is to log into the GRID platform and initialize the containers. Open your terminal and run the following command:
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grid
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.d8888b. 8888888b. 8888888 8888888b.d88P Y88b 888 Y88b 888 888 "Y88b888 888 888 888 888 888 888888 888 d88P 888 888 888888 88888 8888888P" 888 888 888888 888 888 T88b 888 888 888Y88b d88P 888 T88b 888 888 .d88P "Y8888P88 888 T88b 8888888 8888888P"General Robot Intelligence Development Platform - Enterprise versionDeveloped by General Robotics, Inc. (c) 2025Loading resource configuration from /home/grid/.grid/resource_config.json...Started container server on 0.0.0.0:8060Samples currently at /home/grid/.grid/samplesType 'help' or 'license' for more info.GRID #
Spins up the GRID containers on the specified node (defaults to local if no node is specified). Upon running this command, GRID will ask you for your choice of simulator. Currently supported options are AirGen and Isaac Sim.
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init @local
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GRID # initPlease choose the simulator you wish to use:1: airgen2: isaacEnter your choice: 1Starting GRID containers for airgen on local...Spinning up containers with profile airgen...WARN[0000] The "OPENAI_API_KEY" variable is not set. Defaulting to a blank string.[+] Running 3/3 ✔ Container grid_sim_airgen Started1.2s ✔ Container grid_core Started1.5s ✔ Container grid_server Started1.6sChecking container statuses...grid_core: ✓grid_server: ✓grid_sim_airgen: ✓Containers are active.
Updates the GRID containers on the specified node. You must be authenticated to the container registry for this to work. If no simulator choice was already provided, this command will ask you for your preferred simulator choice.
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update @local
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Checking for container updates...Updating containers for profile airgen...[+] Pulling 3/3 ✔ sim-airgen Pulled 0.2s ✔ core Pulled 0.2s ✔ server Pulled 0.2sUpdating assets... Done.
Starts a session with the specified session ID and configuration path on the chosen resource (defaults to @local if no resource is specified). If no configuration file path is provided, GRID will use a sample configuration. Please ensure that you have initialized the GRID containers (for your preferred simulator) before starting a session.
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session start test
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No session configuration was passed. Using a sample configuration from ~/.grid/sample_session_config_airgen.json...2025-02-11 23:23:24,410 - INFO - Initializing sessionDownloading assets... Done.2025-02-11 23:23:24,531 - INFO - HTTP Request: POST http://127.0.0.1:8000/start_session "HTTP/1.1 200 OK"response: Initializing session...response: Downloading content..response_end: Session has been started successfullySession started successfully.2025-02-11 23:23:35,328 - INFO - Session started successfully.
2025-02-11 23:24:59,331 - INFO - HTTP Request: GET http://127.0.0.1:8000/is_idle "HTTP/1.1 200 OK"+--------------+-----------+----------------------------------+| Session ID | Node IP | Last Active Time |+==============+===========+==================================+| test | 127.0.0.1 | 2025-02-11T23:24:32.991267+00:00 |+--------------+-----------+----------------------------------+
Opens the corresponding entity for the specified session:
nb: Jupyter notebook
sim: Simulation stream
viz: Rerun visualization
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open nb @localopen sim @localopen viz @local
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Opening nb from node local in default browser at http://127.0.0.1:8890Opening sim from node local in default browser at http://127.0.0.1:3080Opening viz from node local in default browser at http://127.0.0.1:9090/?url=ws://127.0.0.1:9877
Displays a list of all available commands and their functions.
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help
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Documented commands (type help <topic>):========================================EOF exit init login open terminateclear help license node session update
