antioch-py 2.0.4__tar.gz → 2.0.6__tar.gz

{antioch_py-2.0.4/antioch_py.egg-info → antioch_py-2.0.6}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: antioch-py
-Version: 2.0.4
+Version: 2.0.6
 Summary: The Antioch Python SDK
 Author-email: Antioch Robotics <support@antioch.dev>
 License-Expression: MIT

{antioch_py-2.0.4 → antioch_py-2.0.6}/README.md

@@ -30,3 +30,25 @@ Install the pre-commit hooks to auto-run `uv sync` and `ruff format` on Git comm
 ```bash
 uv run pre-commit install
 ```
+
+## Releasing to PyPI
+
+The package is published to PyPI as `antioch-py`. To release a new version:
+
+1. **Bump the version** in `pyproject.toml` on a feature branch:
+
+   ```toml
+   version = "2.1.0"
+   ```
+
+2. **Merge to main** via pull request
+
+That's it! The GitHub Action automatically detects the version bump and publishes to PyPI.
+
+### Versioning
+
+Follow [semantic versioning](https://semver.org/):
+
+- **MAJOR** (2.x.x → 3.0.0): Breaking API changes
+- **MINOR** (2.0.x → 2.1.0): New features, backward compatible
+- **PATCH** (2.0.0 → 2.0.1): Bug fixes, backward compatible

{antioch_py-2.0.4 → antioch_py-2.0.6}/antioch/session/scene.py

@@ -1334,21 +1334,28 @@ class Scene(SessionContainer):
         max_range: float = 12.0,
         horiz_fov_deg: float = 90.0,
         vert_fov_deg: float = 60.0,
-        num_elements: int = 2,
         rays_per_h: int = 64,
         rays_per_v: int = 16,
         gain: float = 0.01,
         hp_corner_hz: float = 0.1,
-        lp_corner_hz: float = 10.0,
+        lp_corner_hz: float = 3.0,
         threshold: float | None = None,
         threshold_scale: float = 1.0,
         hold_time_s: float = 2.0,
         lens_transmission: float = 0.9,
-        lens_segments_h: int = 8,
+        lens_segments_h: int = 6,
+        vertical_gain_falloff: float = 0.5,
+        element_fov_overlap_deg: float = 20.0,
+        element_scatter_gain: float = 0.1,
+        element_fov_transition_deg: float = 15.0,
         ambient_temp_c: float = 20.0,
+        thermal_time_constant_s: float = 0.2,
+        pyro_responsivity: float = 1.0,
+        noise_amplitude: float = 0.0,
         target_delta_t: float = 10.0,
         target_distance: float = 5.0,
         target_emissivity: float = 0.98,
+        target_velocity_mps: float = 1.0,
         world_pose: Pose | dict | None = None,
         local_pose: Pose | dict | None = None,
     ) -> PirSensor:
@@ -1364,7 +1371,6 @@ class Scene(SessionContainer):
         :param max_range: Maximum detection range in meters.
         :param horiz_fov_deg: Horizontal field of view in degrees.
         :param vert_fov_deg: Vertical field of view in degrees.
-        :param num_elements: Number of sensing elements (typically 2).
         :param rays_per_h: Number of rays in horizontal direction.
         :param rays_per_v: Number of rays in vertical direction.
         :param gain: Amplifier gain.
@@ -1374,11 +1380,19 @@ class Scene(SessionContainer):
         :param threshold_scale: Scale factor applied to auto-calibrated threshold.
         :param hold_time_s: Detection hold time in seconds.
         :param lens_transmission: Lens transmission coefficient (0-1).
-        :param lens_segments_h: Number of horizontal lens segments for interleaved pattern.
+        :param lens_segments_h: Number of horizontal lens segments (sinusoidal sensitivity peaks).
+        :param vertical_gain_falloff: Exponent for elevation-based gain reduction (0=uniform).
+        :param element_fov_overlap_deg: Half-angle of center region where both elements see well (degrees).
+        :param element_scatter_gain: Minimum gain for blocked element due to scatter/reflections (0-1).
+        :param element_fov_transition_deg: Width of soft transition from full gain to scatter gain (degrees).
         :param ambient_temp_c: Ambient temperature in Celsius.
+        :param thermal_time_constant_s: Pyroelectric element thermal time constant in seconds.
+        :param pyro_responsivity: Pyroelectric responsivity scaling factor.
+        :param noise_amplitude: Thermal/electronic noise amplitude.
         :param target_delta_t: Target temperature difference for threshold calibration in Celsius.
         :param target_distance: Target distance for threshold calibration in meters.
         :param target_emissivity: Target emissivity for threshold calibration.
+        :param target_velocity_mps: Target velocity for threshold calibration in m/s.
         :param world_pose: Optional world pose.
         :param local_pose: Optional local pose.
         :return: The PIR sensor instance.
@@ -1390,7 +1404,6 @@ class Scene(SessionContainer):
                 max_range=max_range,
                 horiz_fov_deg=horiz_fov_deg,
                 vert_fov_deg=vert_fov_deg,
-                num_elements=num_elements,
                 rays_per_h=rays_per_h,
                 rays_per_v=rays_per_v,
                 gain=gain,
@@ -1401,10 +1414,18 @@ class Scene(SessionContainer):
                 hold_time_s=hold_time_s,
                 lens_transmission=lens_transmission,
                 lens_segments_h=lens_segments_h,
+                vertical_gain_falloff=vertical_gain_falloff,
+                element_fov_overlap_deg=element_fov_overlap_deg,
+                element_scatter_gain=element_scatter_gain,
+                element_fov_transition_deg=element_fov_transition_deg,
                 ambient_temp_c=ambient_temp_c,
+                thermal_time_constant_s=thermal_time_constant_s,
+                pyro_responsivity=pyro_responsivity,
+                noise_amplitude=noise_amplitude,
                 target_delta_t=target_delta_t,
                 target_distance=target_distance,
                 target_emissivity=target_emissivity,
+                target_velocity_mps=target_velocity_mps,
             )
 
         return PirSensor.add(

{antioch_py-2.0.4 → antioch_py-2.0.6}/antioch/session/views/pir_sensor.py

@@ -81,7 +81,7 @@ class PirSensor(SessionContainer):
         """
         Get current detection status.
 
-        :return: Detection status with is_detected, signal_strength, threshold, and element_power.
+        :return: Detection status with is_detected, signal_strength, threshold, element_flux, and element_signal.
         """
 
         status = self._session.query_sim_rpc(

{antioch_py-2.0.4 → antioch_py-2.0.6/antioch_py.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: antioch-py
-Version: 2.0.4
+Version: 2.0.6
 Summary: The Antioch Python SDK
 Author-email: Antioch Robotics <support@antioch.dev>
 License-Expression: MIT

{antioch_py-2.0.4 → antioch_py-2.0.6}/common/message/pir.py

@@ -12,4 +12,5 @@ class PirStatus(Message):
     is_detected: bool = Field(description="Whether motion is currently detected")
     signal_strength: float = Field(description="Current analog signal value after filtering")
     threshold: float = Field(description="Current detection threshold")
-    element_power: list[float] = Field(default_factory=list, description="Power received on each sensing element")
+    element_flux: list[float] = Field(default_factory=list, description="Raw accumulated IR flux per element")
+    element_signal: list[float] = Field(default_factory=list, description="Pyroelectric voltage signal per element (proportional to dT/dt)")

{antioch_py-2.0.4 → antioch_py-2.0.6}/common/session/views/pir_sensor.py

@@ -12,28 +12,33 @@ class PirSensorConfig(Message):
     """
 
     # Core sensor parameters
-    update_rate_hz: float = Field(default=10.0, description="Sensor update frequency in Hz")
+    update_rate_hz: float = Field(default=60.0, description="Sensor update frequency in Hz")
     max_range: float = Field(default=12.0, description="Maximum detection range in meters")
 
     # Field of view
     horiz_fov_deg: float = Field(default=90.0, description="Horizontal field of view in degrees")
     vert_fov_deg: float = Field(default=60.0, description="Vertical field of view in degrees")
 
-    # Sensing elements
-    num_elements: int = Field(default=2, description="Number of sensing elements (typically 2)")
-    rays_per_h: int = Field(default=64, description="Number of rays in horizontal direction")
+    # Ray configuration
+    rays_per_h: int = Field(default=128, description="Number of rays in horizontal direction")
     rays_per_v: int = Field(default=16, description="Number of rays in vertical direction")
 
     # DSP / electronics parameters
     gain: float = Field(default=0.01, description="Amplifier gain")
     hp_corner_hz: float = Field(default=0.1, description="High-pass filter corner frequency in Hz")
-    lp_corner_hz: float = Field(default=10.0, description="Low-pass filter corner frequency in Hz")
+    lp_corner_hz: float = Field(default=1.0, description="Low-pass filter corner frequency in Hz")
 
     hold_time_s: float = Field(default=2.0, description="Detection hold time in seconds")
 
     # Lens parameters
     lens_transmission: float = Field(default=0.9, description="Lens transmission coefficient (0-1)")
-    lens_segments_h: int = Field(default=8, description="Number of horizontal lens segments for interleaved pattern")
+    lens_segments_h: int = Field(default=6, description="Number of horizontal lens segments (facets)")
+    vertical_gain_falloff: float = Field(default=0.5, description="Exponent for elevation-based gain reduction (0=uniform)")
+
+    # Element vignetting parameters (models window blocking effect)
+    element_fov_overlap_deg: float = Field(default=20.0, description="Half-angle of center region where both elements see well (degrees)")
+    element_scatter_gain: float = Field(default=0.1, description="Minimum gain for blocked element due to scatter/reflections (0-1)")
+    element_fov_transition_deg: float = Field(default=15.0, description="Width of soft transition from full gain to scatter gain (degrees)")
 
     # Environment parameters
     ambient_temp_c: float = Field(default=20.0, description="Ambient temperature in Celsius")
@@ -42,10 +47,16 @@ class PirSensorConfig(Message):
     threshold: float | None = Field(default=None, description="Detection threshold (auto-calibrated if None)")
     threshold_scale: float = Field(default=1.0, description="Scale factor applied to auto-calibrated threshold")
 
+    # Pyroelectric element parameters
+    thermal_time_constant_s: float = Field(default=0.2, description="Element thermal time constant in seconds")
+    pyro_responsivity: float = Field(default=1.0, description="Pyroelectric responsivity scaling factor")
+    noise_amplitude: float = Field(default=0.0, description="Thermal/electronic noise amplitude")
+
     # Auto-threshold calibration parameters
     target_delta_t: float = Field(default=10.0, description="Target temperature difference for threshold calibration in Celsius")
     target_distance: float = Field(default=5.0, description="Target distance for threshold calibration in meters")
     target_emissivity: float = Field(default=0.98, description="Target emissivity for threshold calibration")
+    target_velocity_mps: float = Field(default=1.0, description="Target velocity for threshold calibration in m/s")
 
 
 class GetPirSensor(Message):

{antioch_py-2.0.4 → antioch_py-2.0.6}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "antioch-py"
-version = "2.0.4"
+version = "2.0.6"
 description = "The Antioch Python SDK"
 readme = "README.pypi.md"
 license = "MIT"