antioch-py 2.0.2__py3-none-any.whl → 2.0.4__py3-none-any.whl

antioch_py-2.0.4.dist-info/METADATA

@@ -0,0 +1,115 @@
+Metadata-Version: 2.4
+Name: antioch-py
+Version: 2.0.4
+Summary: The Antioch Python SDK
+Author-email: Antioch Robotics <support@antioch.dev>
+License-Expression: MIT
+Project-URL: Homepage, https://antioch.com
+Keywords: robotics,simulation,middleware,sdk
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Requires-Python: <3.13,>=3.12
+Description-Content-Type: text/markdown
+Requires-Dist: click>=8.0.0
+Requires-Dist: click>=8.3.0
+Requires-Dist: eclipse-zenoh>=1.5.0
+Requires-Dist: google-cloud-artifact-registry>=1.16.1
+Requires-Dist: httpx>=0.27.0
+Requires-Dist: loguru>=0.7.3
+Requires-Dist: msgpack==1.1.1
+Requires-Dist: msgpack>=1.1.1
+Requires-Dist: numpy==1.26.0
+Requires-Dist: ormsgpack>=1.6.0
+Requires-Dist: pydantic>=2.11.6
+Requires-Dist: pydantic>=2.11.7
+Requires-Dist: python-on-whales>=0.78.0
+Requires-Dist: pyyaml>=6.0.2
+Requires-Dist: requests>=2.32.0
+Requires-Dist: scipy==1.15.3
+Requires-Dist: sortedcontainers-stubs>=2.4.3
+Requires-Dist: sortedcontainers>=2.4.0
+Requires-Dist: tqdm>=4.67.1
+
+# antioch-py
+
+Python SDK for the [Antioch](https://antioch.com) autonomy simulation platform.
+
+## Overview
+
+The antioch-py package provides two components:
+
+### Module SDK (`antioch.module`)
+
+The Module SDK is a framework for building Antioch modules in Python. Modules are containerized components that run alongside your simulation, processing sensor data and producing outputs. Each module runs in its own Docker container and communicates with the simulation through the Antioch runtime. Install the SDK in your module's Dockerfile to read sensors, run inference, and publish results.
+
+```python
+from antioch.module import Execution, Module
+
+def process_radar(execution: Execution) -> None:
+    scan = execution.read_radar("sensor")
+    if scan is not None and len(scan.detections) > 0:
+        execution.output("detections").set(scan)
+
+if __name__ == "__main__":
+    module = Module()
+    module.register("radar_node", process_radar)
+    module.spin()
+```
+
+### Session SDK (`antioch.session`)
+
+The Session SDK is a client library for orchestrating Antioch simulations. Use it from Python scripts or Jupyter notebooks to programmatically build scenes, load assets, spawn robots, control simulation playback, and record data. The Session SDK connects to your Antioch deployment and provides a high-level API for automation and experimentation.
+
+```python
+from antioch.session import Scene, Session, Task, TaskOutcome
+
+session = Session()
+scene = Scene()
+
+# Load environment and robot
+scene.add_asset(path="/World/environment", name="warehouse", version="1.0.0")
+ark = scene.add_ark(name="my_robot", version="0.1.0")
+
+# Run simulation
+task = Task()
+task.start(mcap_path="/tmp/recording.mcap")
+
+scene.play()
+scene.step(1_000_000)  # step 1 second
+scene.pause()
+
+task.finish(outcome=TaskOutcome.SUCCESS)
+```
+
+## Installation
+
+To install in your Python environment:
+
+```bash
+pip install antioch-py
+```
+
+To install in your Python-based Docker image (e.g. for an Antioch module):
+
+```dockerfile
+FROM python:3.12-slim
+
+RUN pip install antioch-py
+
+COPY . /app
+WORKDIR /app
+
+CMD ["python", "module.py"]
+```
+
+## Documentation
+
+Visit [antioch.com](https://antioch.com) for full documentation.
+
+## License
+
+MIT

{antioch_py-2.0.2.dist-info → antioch_py-2.0.4.dist-info}/RECORD

@@ -92,8 +92,8 @@ common/utils/comms.py,sha256=1lpnb9ra5I3xv-Eo0GFZ7nR4TjKseOeDNf9QMWQZbds,17283
 common/utils/logger.py,sha256=VcZ4dduWut8xWPs-F5ye8RRrNdBehSSG3r1LAWc-IBY,3389
 common/utils/time.py,sha256=kGDzObbaqWOep4vT1Y2W-BheunxdjYBI4V3Nfp4Ck3Q,790
 common/utils/usd.py,sha256=to4VPtnamMDIQK-pwDIVfiuzUnNzEImj5szOar1NHiE,253
-antioch_py-2.0.2.dist-info/METADATA,sha256=aHf62VpCgcdjH_NoZu6zh_aK-H8vAkkqqgyoMfCcgMk,7486
-antioch_py-2.0.2.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-antioch_py-2.0.2.dist-info/entry_points.txt,sha256=1bLTH5BXCOsQkS8k6L_wJ6Nj62j4aoU9Ey_PhWzsRRM,59
-antioch_py-2.0.2.dist-info/top_level.txt,sha256=GtzNccsep3YdBt9VXQ7-ZFsFJFffr4hyZvqg0YqRqtw,15
-antioch_py-2.0.2.dist-info/RECORD,,
+antioch_py-2.0.4.dist-info/METADATA,sha256=ZwBaVZbFfIZvnFEXLQWXUDi2ZRoXA5CDVTuh1GvLwMU,3485
+antioch_py-2.0.4.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+antioch_py-2.0.4.dist-info/entry_points.txt,sha256=1bLTH5BXCOsQkS8k6L_wJ6Nj62j4aoU9Ey_PhWzsRRM,59
+antioch_py-2.0.4.dist-info/top_level.txt,sha256=GtzNccsep3YdBt9VXQ7-ZFsFJFffr4hyZvqg0YqRqtw,15
+antioch_py-2.0.4.dist-info/RECORD,,

antioch_py-2.0.2.dist-info/METADATA

@@ -1,249 +0,0 @@
-Metadata-Version: 2.4
-Name: antioch-py
-Version: 2.0.2
-Summary: The Antioch Python SDK
-Author-email: Antioch Robotics <support@antioch.dev>
-License-Expression: MIT
-Project-URL: Homepage, https://antioch.com
-Keywords: robotics,simulation,middleware,sdk
-Classifier: Development Status :: 4 - Beta
-Classifier: Intended Audience :: Developers
-Classifier: Programming Language :: Python :: 3
-Classifier: Programming Language :: Python :: 3.12
-Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
-Classifier: Topic :: Software Development :: Libraries :: Python Modules
-Requires-Python: <3.13,>=3.12
-Description-Content-Type: text/markdown
-Requires-Dist: click>=8.0.0
-Requires-Dist: click>=8.3.0
-Requires-Dist: eclipse-zenoh>=1.5.0
-Requires-Dist: google-cloud-artifact-registry>=1.16.1
-Requires-Dist: httpx>=0.27.0
-Requires-Dist: loguru>=0.7.3
-Requires-Dist: msgpack==1.1.1
-Requires-Dist: msgpack>=1.1.1
-Requires-Dist: numpy==1.26.0
-Requires-Dist: ormsgpack>=1.6.0
-Requires-Dist: pydantic>=2.11.6
-Requires-Dist: pydantic>=2.11.7
-Requires-Dist: python-on-whales>=0.78.0
-Requires-Dist: pyyaml>=6.0.2
-Requires-Dist: requests>=2.32.0
-Requires-Dist: scipy==1.15.3
-Requires-Dist: sortedcontainers-stubs>=2.4.3
-Requires-Dist: sortedcontainers>=2.4.0
-Requires-Dist: tqdm>=4.67.1
-
-# Antioch Python
-
-Python client library for the Antioch middleware platform.
-
-## Installation
-
-Authenticate your local environment with GCP via the Google Cloud CLI:
-
-```bash
-gcloud auth login                                       # Login to Google Cloud
-gcloud config set project proof-of-concept-staging-9072 # Set the correct project
-gcloud auth application-default login                   # Create app credentials
-```
-
-This project uses [uv](https://github.com/astral-sh/uv), a fast Python package and project manager. Install it and set up authentication:
-
-```bash
-# Install uv
-curl -LsSf https://astral.sh/uv/install.sh | sh
-
-# Install keyring authentication globally for uv
-uv tool install keyring --with keyrings.google-artifactregistry-auth
-
-# Install all default groups in one step
-uv sync
-```
-
-Install the pre-commit hooks to auto-run `uv sync` and `ruff format` on Git commit:
-
-```bash
-uv run pre-commit install
-```
-
-## Usage
-
-The Antioch Python client builds both Docker images that can be used and a Python package.
-
-## Docker Images
-
-We have 2 Docker images currently
-
-### Standard Image (`antioch-py:latest`)
-
-- Base: `python:3.12-slim`
-- Sidecar binary at `/usr/local/bin/sidecar`
-- antioch-py package pre-installed
-- Python 3.12 virtual environment with pip
-- Runs as root for maximum compatibility
-
-Build locally using
-
-```
-./build-image.sh
-```
-
-### ROS Image (`antioch-py-ros:latest`)
-
-- Base: `osrf/ros:jazzy-desktop`
-- All features of the standard image
-- Full ROS 2 Jazzy desktop environment
-- ROS 2 Python packages and tools pre-installed
-- Ideal for robotics applications requiring ROS integration
-
-NOTE: not included in cloudbuild currently
-
-Build locally using
-
-```
-./build-image.sh --variant ros-jazzy
-```
-
-### Usage
-
-For standard Python modules:
-
-```dockerfile
-FROM antioch-py:latest
-
-# Install any additional packages you need
-RUN pip install opencv-python-headless numpy
-
-# Copy your module entrypoint
-# The sidecar will automatically run your module.py file
-COPY module.py .
-```
-
-For ROS-enabled modules:
-
-```dockerfile
-FROM antioch-py-ros:latest
-
-# Install ROS-specific packages if needed
-RUN apt-get update && apt-get install -y ros-jazzy-cv-bridge
-
-# You will probably need to source your ROS modules / install
-# To ensure your ROS environment is available to your module, source the ROS setup script before running the sidecar.
-# For example, you can add the following to your Dockerfile:
-RUN echo "source /opt/ros/jazzy/setup.bash" >> /etc/profile.d/ros.sh
-SHELL ["/bin/bash", "-c"]
-
-# If you have a custom ROS workspace, source its setup script as well:
-# RUN echo "source /workspace/install/setup.bash" >> /etc/profile.d/ros.sh
-
-# The sidecar will automatically run your module.py file in the ROS environment.
-COPY module.py .
-```
-
-## Testing Modules
-
-Antioch provides a test framework for testing modules in isolation without requiring a full deployment. The `ModuleTestHarness` runs your module in a separate process and communicates with it using the standard Antioch protocol.
-
-### Basic Example
-
-```python
-from antioch.module import Module, NodeExecution
-from antioch.module.test import ModuleTestHarness, TestNode, TestInput, TestOutput
-from common.message import Message
-
-# Define your message types
-class InputData(Message):
-    _type = "input_data"
-    value: int
-
-class OutputData(Message):
-    _type = "output_data"
-    result: int
-
-# Create your module
-class MyModule(Module):
-    def init(self):
-        self.add_node("process", self.process)
-
-    def process(self, exec: NodeExecution):
-        data = exec.input("data").data(InputData)
-        if data:
-            exec.output("result").set(OutputData(result=data.value * 2))
-
-    def cleanup(self):
-        pass
-
-# Test your module
-def test_my_module():
-    with ModuleTestHarness(MyModule) as harness:
-        # Configure the module
-        harness.configure(
-            module_name="my-module",
-            nodes=[
-                TestNode(
-                    name="process",
-                    budget=50,  # 50ms time budget
-                    inputs=[TestInput(name="data", message_type="input_data")],
-                    outputs=[TestOutput(name="result", message_type="output_data")],
-                )
-            ],
-        )
-
-        # Execute the node
-        result = harness.execute(
-            "process",
-            inputs={"data": InputData(value=21)},
-        )
-
-        # Check the output
-        output = result.output("result", OutputData)
-        assert output.result == 42
-```
-
-The test framework handles module lifecycle, message serialization, and provides helpful error messages for common issues like budget overruns.
-
-### Testing Modules with Hardware
-
-For modules that use hardware (cameras, IMUs, actuator groups), provide mock hardware data:
-
-```python
-from antioch.module import Module, NodeExecution
-from antioch.module.test import ModuleTestHarness
-from antioch.message import Image, ImageEncoding
-
-class CameraModule(Module):
-    def init(self):
-        self.add_node("process_frame", self.process_frame)
-        self.camera = self.get_rgb_camera("my_camera")
-
-    def process_frame(self, exec: NodeExecution):
-        frame = self.camera.get_frame()
-        # Process frame...
-        exec.output("processed").set(...)
-
-def test_camera_module():
-    with ModuleTestHarness(CameraModule, module_yaml_path="tests/camera.yaml") as harness:
-        # Execute node with mock camera data
-        result = harness.execute_node(
-            node_name="process_frame",
-            hardware_data={
-                "my_camera": Image(
-                    width=640,
-                    height=480,
-                    encoding=ImageEncoding.RGB8,
-                    data=b"mock_rgb_data",
-                )
-            }
-        )
-
-        # Verify outputs
-        processed = result.output("processed", ProcessedData)
-        assert processed is not None
-
-        # For actuator groups, you can also verify hardware writes
-        # write = result.get_hardware_write("my_actuator_group")
-```
-
-The test harness automatically mocks the Sim RPC layer, so hardware reads and writes
-work exactly as they would in production, but without requiring Isaac Sim to be running.