GRID Docs | General Robotics

from grid_nexus_client import connect

Signature

connect(
    robot_id: str,
    program=None,
    debug: bool | None = None,
    *,
    zenoh_config: str | os.PathLike[str] | Mapping[str, object] | None = None,
    enable_monitor_ws: bool | None = None,
    timeout: float | None = DEFAULT_CONNECT_TIMEOUT_SECS,
) -> RemoteRobot | RemoteDeployment

Connect to a remote robot via the signaling server. Returns a RemoteRobot for direct command dispatch, or a RemoteDeployment if a program is provided (staged execution mode). A remotely invoked program declares a Robot parameter and receives the returned deployment in that slot; programs without a Robot parameter use the standalone grid_nexus_program.run_program path. The signaling URL comes from GRID_USER_SIGNALING_URL when set — the GRID CLI always exports it for the active cluster — and otherwise from the GRID_TARGET_ENV profile defaults. Streaming is inferred from the mode: off for direct/dev mode, on for staged/deploy mode. Disconnects and re-raises on any connection failure. enable_monitor_ws controls the in-process Rust websocket snapshot broadcaster that serves the monitor on 127.0.0.1:8765. zenoh_config connects directly to an existing TUI-owned dev session without opening a signaling websocket. It is supported only for direct/dev mode, not when program is provided. Pass either a path to the TUI session config file or the same combined {"player": ..., "edge": ...} mapping. The former bare Player object is not accepted. When omitted, an active dev session for robot_id (the config the GRID CLI writes on robot connect / session start robot) is discovered automatically; with no active dev session the signaling path is used. When debug is omitted, it is enabled for staged/deploy connections where program is provided and disabled for direct/dev connections. It controls only cloud model debug-image streaming; pass debug=False to disable those streams for a deployment. Native Rust/zenoh log verbosity is controlled separately through RUST_LOG and defaults to warnings. For enable_monitor_ws:

None (default): best-effort. Start if possible, log and continue on failure (e.g. port already taken by another connect()).
True: required. Propagate any failure so the caller knows.
False: skip entirely.

Setting GRID_NEXUS_CLIENT_DISABLE_MONITOR_WS=1 in the environment behaves like enable_monitor_ws=False when the kwarg is left as None.