Rayrai Example: Warehouse

ANYmal C standing in a warehouse aisle between blue and orange pallet racks

Overview

A photoreal warehouse with pallet racks, forklifts and a loading dock, stored as a RaiSim Engine scene, rsc/warehouse/rayrai_warehouse.rscene. An ANYmal C quadruped stands in an aisle. The scene file holds the whole world, so the example only loads it and adds the robot:

auto world = std::make_shared<raisim::World>(
  exampleRscPath(argv[0], "warehouse/rayrai_warehouse.rscene"));
// The .rscene reader creates no articulated systems, so the robot is added here.
addStandingAnymal(*world, exampleRscPath(argv[0], "anymal_c/urdf/anymal.urdf"));
raisin::RayraiWindow viewer(world, 1280, 800);  // applies the scene

Forklift, traffic cones and staged pallet loads in front of the dock doors

Run

./build-examples/examples/rayrai_warehouse
./build-examples/examples/rayrai_warehouse --screenshot warehouse.png

Source: examples/src/rayrai/worlds/rayrai_warehouse.cpp (CMake target rayrai_warehouse). --screenshot saves one frame and exits, and --scene loads another .rscene file. On an RTX 2070 SUPER a frame takes about 13 ms at 1280 × 800.

The scene

A 60 m × 36 m steel-frame hall with skylights and four dock doors, two of them open to a sunlit yard.
Ten rows of pallet racks with four shelf levels, filled with cartons and drums on pallets.
A dock area with staging lanes, two forklifts, a pallet jack, shelves and a packing desk.
Colliders for the walls, racks, floor loads and props. Cartons, crates, cones and a wet-floor sign are dynamic, so a robot can push them.

View over the dock area towards the five racking aisles

Assets

All files are in rsc/warehouse; the scene also uses the sky, asphalt and traffic cones in rsc/city. The props and textures come from Poly Haven (CC0). The forklift, pallet jack, pallets and cartons are Sketchfab models under CC BY 4.0, credited in rsc/warehouse/ATTRIBUTION.md.

See .rscene File for the scene format.