GRID Docs | General Robotics

Use a CLI and workflow environment that include the unified telemetry page. The CLI requires GRX HTTP API version 2. An older GRX package can prevent the viewer from starting.

Start the notebook session

From your notebook folder, run:

grid skill run --dev --robot YOUR_ROBOT_NAME

Keep the CLI open. Select the generated workspace’s .venv kernel. The CLI supplies GRID_TELEMETRY_URL to this environment. After connecting your notebook’s nav object, run nav.view() and open Telemetry. The page combines two sources: live robot navigation and GRX samples from your notebook. A connected robot with no samples is different from a lost connection. Check the displayed source and connection state before interpreting a plot. For your first run, follow Run a saved mission. Use this page when you need more detail or want to add notebook measurements. Use Add view to select available robot data or logged outputs. Navigation data can include map layers, localization health, recovery state, and the latest mission result. Availability depends on the robot runtime. Check the connection state and sample age. A connection alone does not prove fresh data. Open the robot log view to inspect Robot messages. Use Load older, Pause logs / Follow new logs, and Download full log where available. The visible log window holds up to 256 KiB. Log history is separate from retained GRX history. If the run changes, use the new run’s log identity. For a Python monitor, see the diagnostics API and data schemas. They describe telemetry(since=...), log_chunk(...), and how to request the next batch of data.

Reopen the viewer

Call nav.view() from the connected notebook. To print the URL only, use nav.view(open_browser=False). You can also run this inside the GRID terminal:

nav view YOUR_ROBOT

Use the same GRID process that holds the development session. nav view YOUR_ROBOT --no-open prints the URL instead. Reopen the page after changing account or cluster. A separate CLI process does not share the held session. The viewer observes the robot. Close it without ending the mission. To stop motion, use the owning mission workflow. nav.stop() stops navigation workers; nav.shutdown() releases Nav. Both affect clients sharing that navigation instance.

Log a measurement

import os
import numpy as np
from grx.viewer import RemoteLiveSession

url = os.environ.get("GRID_TELEMETRY_URL", "").strip()
if not url:
    raise RuntimeError("Start the CLI dev session and select its kernel first.")
telemetry = RemoteLiveSession(url)
telemetry.log("inspection/detection_count", np.array([2], dtype=np.float32))

Select the new stream in the Telemetry page. Logging a measurement does not move the robot. Use the same shape and data type for each later sample in that stream. Use a new stream name if you change the camera resolution or data layout.

Log a camera image

Use the camera selected in your notebook. This example requires an RGB image.

frame = robot.getImage(CAMERA)
if frame is None:
    raise RuntimeError("The camera did not return an image.")
pixels = frame.decode()
telemetry.log("inspection/rgb", pixels, kind="image")

Logging time is the host time unless you supply t_ns. It does not establish the camera’s capture time or prove that a frame is fresh. The notebook can read and log images while nav.run_mission(..., blocking=False) runs. Logging is synchronous. Slow sensor or viewer requests can delay the notebook’s cancellation path. Keep the mission’s cancellation and cleanup code.

Save and finish

from pathlib import Path

recording = Path("inspection.grx").resolve()
print(telemetry.save(str(recording)))
telemetry.stop()

Choose a new filename for each recording. The path is on the CLI host. This saves retained GRX streams, not all robot navigation data shown on the page. The shared viewer can contain samples from more than one notebook. Review recordings before sharing them. The viewer retains up to 600 seconds, subject to its storage limit. Large images can remove older samples sooner. Save important results separately during long missions. telemetry.stop() detaches the notebook client. It does not stop the robot or close the CLI-owned viewer. Run the notebook’s Nav and robot cleanup separately. The viewer stops when the CLI exits. For standalone playback, run:

python -m grx.viewer /absolute/path/inspection.grx

If the page is empty

Check GRID_TELEMETRY_URL in the selected kernel. Do not reuse a URL from an earlier CLI process.
Confirm that the first log call succeeded and that the stream is selected.
Keep the CLI running. Reconnect the notebook client after a viewer replacement.
Check the timeline’s retained range. A paused time can expire as old data is removed.
Check that later samples use the first sample’s shape and data type.

For agent-controlled navigation, see Agentic navigation.

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Navigation telemetry and notebook logging

Start the notebook session

Inspect navigation data and logs

Reopen the viewer

Log a measurement

Log a camera image

Save and finish

If the page is empty

​Start the notebook session

​Inspect navigation data and logs

​Reopen the viewer

​Log a measurement

​Log a camera image

​Save and finish

​If the page is empty

Start the notebook session

Inspect navigation data and logs

Reopen the viewer

Log a measurement

Log a camera image

Save and finish

If the page is empty