Navigation telemetry and notebook logging

grid skill run --dev --robot YOUR_ROBOT_NAME

nav view YOUR_ROBOT

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))

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")

import time

state = nav.status()
if state.state != "ready" or state.map_id != MAP_ID or state.mission_running:
    raise RuntimeError("Nav must be ready on the selected map with no active mission.")
if input("Run the reviewed mission and log images? Type RUN: ") != "RUN":
    raise RuntimeError("Mission not started")

deadline = time.monotonic() + 300  # Maximum run time in seconds.
try:
    nav.run_mission(MISSION, blocking=False)
    while nav.status().mission_running:
        if time.monotonic() >= deadline:
            raise TimeoutError("Logging time limit reached.")
        frame = robot.getImage(CAMERA)
        if frame is not None:
            telemetry.log("inspection/rgb", frame.decode(), kind="image")
        pose = nav.pose()
        telemetry.log("nav/position_xy_m", np.array([pose.x, pose.y], dtype=np.float32))
        time.sleep(0.5)
finally:
    nav.cancel_mission()

print(nav.result())

from pathlib import Path

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

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