intrinsic.solutions.deployments.Solution

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Wraps a connection to a deployed solution.

intrinsic.solutions.deployments.Solution(
grpc_channel: grpc.Channel,
is_simulated: bool,
executive: intrinsic.solutions.execution.Executive,
skill_registry: skill_registry_client.SkillRegistryClient,
resource_registry: resource_registry_client.ResourceRegistryClient,
object_world: intrinsic.solutions.worlds.ObjectWorld,
simulator: Optional[intrinsic.solutions.simulation.Simulation],
errors: error_processing.ErrorsLoader,
pose_estimators: Optional[pose_estimation.PoseEstimators],
installer: installer_pb2_grpc.InstallerServiceStub,
pbt_registry: Optional[pbt_registration.BehaviorTreeRegistry] = None,
proto_builder: Optional[proto_building.ProtoBuilder] = None
)

Attributes
grpc_channel	gRPC channel to the cluster which hosts the deployed solution.
is_simulated	Whether the solution is deployed on a simulated workcell rather than on a physical workcell.
executive	Executive instance to communicate with executive.
skills	Wrapper to easily access skills.
resources	Provides access to resources.
simulator	Simulator instance for controlling simulation.
errors	Exposes error reports from executions.
pose_estimators	Optional. Wrapper to access pose estimators.
world	default world in world service.
pbt_registry	gRPC wrapper to sideload PBTs
proto_builder	service to build proto FileDescriptorSets from proto schemas

Child Classes

class HealthStatus

Methods

for_channel

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@classmethodfor_channel(
grpc_channel: grpc.Channel, *, options: Optional[Dict[str, Any]] = None
) -> 'Solution'

Creates a Solution for the given channel and options.

Args
grpc_channel	gRPC channel to the cluster which hosts the deployed solution.
options	An optional Dict[str, Any] containing additional options. See 'deployments.connect()' for available values.

Returns
A fully initialized Workcell instance.

get_health_status

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get_health_status() -> 'HealthStatus'

Returns the health status of the solution backend.

Can be called before or after connecting to the deployed solution.

Returns
Health status of solution backend

skills_overview

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skills_overview(
with_signatures: bool = False,
with_type_annotations: bool = False,
with_doc: bool = False
) -> None

Prints an overview of the registered skills.

Args
with_signatures	Include signatures for skill construction.
with_type_annotations	Include type annotations and not just the parameter name.
with_doc	Also print out docstring for each skill.

update_skills

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update_skills() -> None