> ## 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.

# Scenes

## Existing Scenes

<img src="https://mintcdn.com/scaledfoundations/bbcuyC2Oq40Jh0Ty/assets/images/scenes_isaac.png?fit=max&auto=format&n=bbcuyC2Oq40Jh0Ty&q=85&s=df33b9f8f1147ea258b5447eda5946d0" alt="Scenes" width="2160" height="1215" data-path="assets/images/scenes_isaac.png" />

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.
   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.
   It includes countertops, cabinets, a microwave, a stove, a refrigerator, a dishwasher, and various kitchen utensils or appliances.
9. **Biolab** – A biological laboratory environment equipped with workbenches, pipettes, beakers, test tubes, and cabinets; ideal for fine manipulation and sample-handling tasks.

<Note>
  We are constantly updating our offering of scenes and if you want the scene of your choice 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>

## 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 adding it to the scene entity in the `env.yaml`.

```yaml theme={null}
- scene_name:
    type: Asset
    name: USD
    config:
      spawn:
        usd_path: path_to_usd_here
```