Configure navigation

from grid_nexus_client import make_robot
from grid_nexus_client.nav import make_nav

robot = make_robot("YOUR_ROBOT")
nav = make_nav(robot)
print(nav.status())
if nav.config is None:
    raise RuntimeError("This runtime did not report a config; update it before exporting")
print(nav.config["robot"]["robot_type"])
print(nav.config["max_linear_vel"])
print(nav.config["runtime"])

if nav.status().mission_running:
    raise RuntimeError("Wait for the current mission's owner before replacing navigation")
nav.shutdown()
nav = make_nav(
    robot,
    overrides={
        "max_linear_vel": 0.2,
        "localization.hloc_query_timeout_s": 15.0,
    },
    record="default",
)
print(nav.config["max_linear_vel"])

import copy
import json
from pathlib import Path

if nav.status().mission_running:
    raise RuntimeError("Do not replace a running mission")
if nav.config is None:
    raise RuntimeError("No resolved config is available")
custom = copy.deepcopy(nav.config)
custom["max_linear_vel"] = 0.2
custom["runtime"]["run_name"] = "inspection"
Path("navigation-config.json").write_text(json.dumps(custom, indent=2) + "\n")
nav.shutdown()
nav = make_nav(robot, cfg=custom)

nav = make_nav(robot, cfg="/opt/grid/config/navigation.yaml")

max_linear_vel: 0.2
max_angular_vel: 0.5
control_hz: 10.0
runtime:
  backend: mppi
  record: default
  run_name: inspection
  enable_cloud_replan: false
robot:
  robot_type: r1pro
  camera_name: head_camera_left
localization:
  hloc_query_timeout_s: 15.0

grid-nav-run --robot-type r1pro --omni --generate-config > nav.yaml

grid-nav-run --nav-config /absolute/path/nav.yaml --generate-config > resolved-nav.yaml

import json
from pathlib import Path

from grid_pointnav.configs import navigation_config_json_schema

Path("navigation-config.schema.json").write_text(json.dumps(navigation_config_json_schema(), indent=2) + "\n")

nav = make_nav(robot, profile="r1pro", config_dir="/opt/grid/nav-profiles", omni=True)

if nav.config is None:
    raise RuntimeError("No resolved config is available")
for section in ("robot_geometry", "dwa", "mppi_pipeline", "safety"):
    print(section, nav.config[section])

body_stop = {
    "name": "body-stop",
    "type": "polygon",
    "use_robot_footprint": True,
    "action_type": "stop",
    "min_points": 1,
    "trigger_consecutive_points": 1,
    "release_consecutive_points": 2,
}
nav = make_nav(
    robot,
    overrides={
        "safety.mode": "nav2",
        "safety.nav2.polygons": [body_stop],  # Replaces the complete zone list.
    },
)

nav = make_nav(
    robot,
    backend="mppi",
    overrides={
        "control_hz": 20.0,
        "mppi_pipeline.controller_frequency_hz": 0.0,
        "mppi_pipeline.command_decimation": 2,
        "mppi_pipeline.time_steps": 30,
        "mppi_pipeline.legacy_g1_env_overrides": False,
    },
)
# Requires GRID_MPPI_DECIM to be unset in the robot process.
# 20 outer ticks/s / 2 = 10 solves/s; 30 steps at 0.1 s = 3 seconds.

MISSION = "YOUR_PATH_UUID"
if input("Drive the reviewed mission? Type RUN: ") != "RUN":
    raise RuntimeError("Mission not started")
result = nav.run_mission(
    MISSION,
    run_name="inspection",
    record="nav,pose,cmd,gt,rgb",
    enable_cloud_replan=True,
    cloud_replan_cooldown_s=2.0,
    cloud_replan_timeout_s=2.0,
)
if result.status != "succeeded":
    raise RuntimeError(f"Mission {result.status}: {result.message}")

POLYGON = []  # Fill with at least three verified map-frame [x, y] vertices.
if len(POLYGON) < 3:
    raise ValueError("Define the polygon on your active map first")
constraints = {
    "version": 1,
    "id": "inspection-policy",
    "revision": 1,
    "zones": [{"id": "restricted-area", "type": "keepout", "polygon": POLYGON}],
    "semantic_rules": [],
}