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.

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Commands Overview

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: 
grid


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General Robot Intelligence Development Platform - Enterprise version
Developed by General Robotics, Inc. (c) 2025

Loading resource configuration from /home/grid/.grid/resource_config.json...
Started container server on 0.0.0.0:8060
Samples currently at /home/grid/.grid/samples
Type 'help' or 'license' for more info.

GRID #

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login

Logs into the GRID container registry using the username and password from the resouece configuration. 
login @local

GRID # login
Logging in to General Robotics - GRID registry...Login successful!

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init

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. 
init @local

GRID # init
Please choose the simulator you wish to use:
1: airgen
2: isaac
Enter your choice: 1
Starting 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      Started1.6s
Checking container statuses...
grid_core: ✓
grid_server: ✓
grid_sim_airgen: ✓
Containers are active.

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terminate

Terminates the GRID containers on the specified node. 
GRID # terminate

Stopping containers using docker-compose...
WARN[0000] The "OPENAI_API_KEY" variable is not set. Defaulting to a blank string.
[+] Running 3/3
 ✔ Container grid_sim_airgen  Removed12.2s
 ✔ Container grid_server      Removed12.2s
 ✔ Container grid_core        Removed10.2s
Checking container statuses...
grid_core: ❌
grid_server: ❌
grid_sim_airgen: ❌
Containers stopped successfully.

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update

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. 
update @local

Checking for container updates...
Updating containers for profile airgen...
[+] Pulling 3/3
 ✔ sim-airgen Pulled 0.2s
 ✔ core Pulled       0.2s
 ✔ server Pulled     0.2s
Updating assets... Done.

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session start <session_id> <config_path> @<resource_name>

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. 
session start test

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 session
Downloading 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 successfully
Session started successfully.
2025-02-11 23:23:35,328 - INFO - Session started successfully.

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session stop <session_id>

Stops the session with the specified ID. 
session stop test

grid> session stop test_session
Stopping session test ...
2025-02-11 23:24:08,690 - INFO - Terminating session
2025-02-11 23:24:15,031 - INFO - HTTP Request: POST http://127.0.0.1:8000/terminate_session "HTTP/1.1 200 OK"
Session stopped successfully.
2025-02-11 23:24:15,031 - INFO - Session stopped successfully.

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session list

Lists all ongoing sessions. 
session list

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 |
+--------------+-----------+----------------------------------+

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open nb | sim | viz @<node_name>

Opens the corresponding entity for the specified session:
  • nb: Jupyter notebook
  • sim: Simulation stream
  • viz: Rerun visualization
open nb @local
open sim @local
open viz @local

Opening nb from node local in default browser at http://127.0.0.1:8890
Opening sim from node local in default browser at http://127.0.0.1:3080
Opening viz from node local in default browser at http://127.0.0.1:9090/?url=ws://127.0.0.1:9877

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help

Displays a list of all available commands and their functions. 
help


Documented commands (type help <topic>):
========================================
EOF    exit  init     login  open     terminate
clear  help  license  node   session  update