antioch-py 2.0.6__py3-none-any.whl → 2.0.7__py3-none-any.whl

antioch/session/scene.py

@@ -20,6 +20,7 @@ from antioch.session.views import (
     has_collision,
     remove_collision,
     set_collision,
+    set_nonvisual_material,
     set_pir_material,
 )
 from common.core import ContainerSource, get_asset_path
@@ -1330,28 +1331,33 @@ class Scene(SessionContainer):
         self,
         path: str,
         config: PirSensorConfig | None = None,
-        update_rate_hz: float = 10.0,
-        max_range: float = 12.0,
-        horiz_fov_deg: float = 90.0,
-        vert_fov_deg: float = 60.0,
-        rays_per_h: int = 64,
-        rays_per_v: int = 16,
-        gain: float = 0.01,
-        hp_corner_hz: float = 0.1,
-        lp_corner_hz: float = 3.0,
+        update_rate_hz: float = 60.0,
+        max_range: float = 20.0,
+        total_horiz_fov_deg: float = 150.0,
+        sensor_side_fov_deg: float = 45.0,
+        sensor_center_fov_deg: float = 45.0,
+        sensor_rays_horiz: int = 128,
+        sensor_rays_vert: int = 16,
+        min_vertical_angle_center: float = -30.0,
+        max_vertical_angle_center: float = 30.0,
+        min_vertical_angle_side: float = -30.0,
+        max_vertical_angle_side: float = 30.0,
+        gain_center: float = 0.015,
+        gain_sides: float = 0.01,
+        hp_corner_hz: float = 0.4,
+        lp_corner_hz: float = 10.0,
         threshold: float | None = None,
         threshold_scale: float = 1.0,
-        hold_time_s: float = 2.0,
+        blind_time_s: float = 0.5,
+        pulse_counter: int = 2,
+        window_time_s: float = 2.0,
+        count_mode: int = 0,
         lens_transmission: float = 0.9,
         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,
+        pyro_responsivity: float = 4000.0,
+        noise_amplitude: float = 20e-6,
         target_delta_t: float = 10.0,
         target_distance: float = 5.0,
         target_emissivity: float = 0.98,
@@ -1369,22 +1375,27 @@ class Scene(SessionContainer):
         :param config: Optional PIR sensor configuration (alternative to individual parameters).
         :param update_rate_hz: Sensor update frequency in Hz.
         :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 rays_per_h: Number of rays in horizontal direction.
-        :param rays_per_v: Number of rays in vertical direction.
-        :param gain: Amplifier gain.
+        :param total_horiz_fov_deg: Total horizontal coverage in degrees. Enables automatic fanning.
+        :param sensor_side_fov_deg: Horizontal FOV for side sensors in degrees.
+        :param sensor_center_fov_deg: Horizontal FOV for center sensor in degrees.
+        :param sensor_rays_horiz: Number of rays per sensor in horizontal direction.
+        :param sensor_rays_vert: Number of rays per sensor in vertical direction.
+        :param min_vertical_angle_center: Minimum vertical angle for center sensor in degrees.
+        :param max_vertical_angle_center: Maximum vertical angle for center sensor in degrees.
+        :param min_vertical_angle_side: Minimum vertical angle for side sensors in degrees.
+        :param max_vertical_angle_side: Maximum vertical angle for side sensors in degrees.
+        :param gain_center: Amplifier gain for center sensor.
+        :param gain_sides: Amplifier gain for side sensors.
         :param hp_corner_hz: High-pass filter corner frequency in Hz.
         :param lp_corner_hz: Low-pass filter corner frequency in Hz.
         :param threshold: Detection threshold (auto-calibrated if None).
         :param threshold_scale: Scale factor applied to auto-calibrated threshold.
-        :param hold_time_s: Detection hold time in seconds.
+        :param blind_time_s: Blind time after detection in seconds.
+        :param pulse_counter: Number of pulses required to trigger detection (1-4).
+        :param window_time_s: Window time for pulse counting in seconds.
+        :param count_mode: Pulse counting mode (0 = sign change required, 1 = any crossing).
         :param lens_transmission: Lens transmission coefficient (0-1).
-        :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 lens_segments_h: Number of horizontal lens segments (facets).
         :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.
@@ -1402,22 +1413,27 @@ class Scene(SessionContainer):
             config = PirSensorConfig(
                 update_rate_hz=update_rate_hz,
                 max_range=max_range,
-                horiz_fov_deg=horiz_fov_deg,
-                vert_fov_deg=vert_fov_deg,
-                rays_per_h=rays_per_h,
-                rays_per_v=rays_per_v,
-                gain=gain,
+                total_horiz_fov_deg=total_horiz_fov_deg,
+                sensor_side_fov_deg=sensor_side_fov_deg,
+                sensor_center_fov_deg=sensor_center_fov_deg,
+                sensor_rays_horiz=sensor_rays_horiz,
+                sensor_rays_vert=sensor_rays_vert,
+                min_vertical_angle_center=min_vertical_angle_center,
+                max_vertical_angle_center=max_vertical_angle_center,
+                min_vertical_angle_side=min_vertical_angle_side,
+                max_vertical_angle_side=max_vertical_angle_side,
+                gain_center=gain_center,
+                gain_sides=gain_sides,
                 hp_corner_hz=hp_corner_hz,
                 lp_corner_hz=lp_corner_hz,
                 threshold=threshold,
                 threshold_scale=threshold_scale,
-                hold_time_s=hold_time_s,
+                blind_time_s=blind_time_s,
+                pulse_counter=pulse_counter,
+                window_time_s=window_time_s,
+                count_mode=count_mode,
                 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,
@@ -1507,6 +1523,31 @@ class Scene(SessionContainer):
 
         set_pir_material(path, emissivity, temperature_c)
 
+    def set_nonvisual_material(
+        self,
+        path: str,
+        base: str,
+        coating: str = "none",
+        attribute: str = "none",
+    ) -> int:
+        """
+        Set non-visual material properties on all Material prims in a subtree.
+
+        These properties define how objects appear to RTX sensors (LiDAR and Radar).
+
+        Example:
+            # Make a person visible to radar/lidar with skin material
+            scene.set_nonvisual_material("/World/person", base="skin")
+
+        :param path: USD path of the root prim to configure.
+        :param base: Base material type.
+        :param coating: Coating type.
+        :param attribute: Material attribute.
+        :return: Number of Material prims modified.
+        """
+
+        return set_nonvisual_material(path, base, coating, attribute)
+
     def _step_physics(self, dt_us: int) -> None:
         """
         Step physics by dt_us.

antioch/session/views/__init__.py

@@ -13,6 +13,7 @@ from antioch.session.views.ground_plane import GroundPlane
 from antioch.session.views.imu import Imu
 from antioch.session.views.joint import Joint
 from antioch.session.views.light import Light
+from antioch.session.views.material import set_nonvisual_material
 from antioch.session.views.pir_sensor import PirSensor, set_pir_material
 from antioch.session.views.radar import Radar
 from antioch.session.views.rigid_body import RigidBody
@@ -36,5 +37,6 @@ __all__ = [
     "has_collision",
     "remove_collision",
     "set_collision",
+    "set_nonvisual_material",
     "set_pir_material",
 ]

antioch/session/views/material.py

@@ -0,0 +1,54 @@
+from antioch.session.session import Session
+from common.session.views.material import SetNonVisualMaterial, SetNonVisualMaterialResponse
+
+
+def set_nonvisual_material(
+    path: str,
+    base: str,
+    coating: str = "none",
+    attribute: str = "none",
+) -> int:
+    """
+    Set non-visual material properties on all Material prims in a subtree.
+
+    These properties define how objects appear to RTX sensors (LiDAR and Radar).
+
+    Valid base materials:
+        Metals: aluminum, steel, oxidized_steel, iron, oxidized_iron, silver, brass,
+                bronze, oxidized_bronze_patina, tin
+        Polymers: plastic, fiberglass, carbon_fiber, vinyl, plexiglass, pvc, nylon, polyester
+        Glass: clear_glass, frosted_glass, one_way_mirror, mirror, ceramic_glass
+        Other: asphalt, concrete, leaf_grass, dead_leaf_grass, rubber, wood, bark,
+               cardboard, paper, fabric, skin, fur_hair, leather, marble, brick,
+               stone, gravel, dirt, mud, water, salt_water, snow, ice, calibration_lambertion
+        Default: none
+
+    Valid coatings: none, paint, clearcoat, paint_clearcoat
+
+    Valid attributes: none, emissive, retroreflective, single_sided, visually_transparent
+
+    Example:
+        # Make a person visible to radar/lidar with skin material
+        count = set_nonvisual_material("/World/person", base="skin")
+
+        # Make a car with aluminum body and paint coating
+        count = set_nonvisual_material("/World/car", base="aluminum", coating="paint")
+
+    :param path: USD path of the root prim to configure.
+    :param base: Base material type.
+    :param coating: Coating type.
+    :param attribute: Material attribute.
+    :return: Number of Material prims modified.
+    """
+
+    response = Session.get_current().query_sim_rpc(
+        endpoint="set_nonvisual_material",
+        payload=SetNonVisualMaterial(
+            path=path,
+            base=base,
+            coating=coating,
+            attribute=attribute,
+        ),
+        response_type=SetNonVisualMaterialResponse,
+    )
+    return response.materials_modified

antioch/session/views/radar.py

@@ -1,6 +1,14 @@
 from antioch.session.session import Session, SessionContainer
 from common.message import Pose, RadarScan
-from common.session.views.radar import AddRadar, GetRadar, GetRadarResponse, GetRadarScan, RadarConfig
+from common.session.views.radar import (
+    AddRadar,
+    GetRadar,
+    GetRadarResponse,
+    GetRadarScan,
+    RadarConfig,
+    SetRadarDebugMode,
+    SetRadarMaterial,
+)
 
 
 class Radar(SessionContainer):
@@ -71,3 +79,53 @@ class Radar(SessionContainer):
         )
 
         return scan
+
+    def set_debug_mode(self, enabled: bool) -> None:
+        """
+        Enable or disable debug visualization.
+
+        :param enabled: Whether to enable debug visualization.
+        """
+
+        self._session.query_sim_rpc(
+            endpoint="set_radar_debug_mode",
+            payload=SetRadarDebugMode(path=self._path, enabled=enabled),
+        )
+
+
+def set_radar_material(
+    path: str,
+    reflectivity: float | None = None,
+    metallic: float | None = None,
+    roughness: float | None = None,
+    backscattering: float | None = None,
+    cross_section: float | None = None,
+) -> None:
+    """
+    Set radar-specific material properties on a prim and all prims in its subtree.
+
+    These properties define how the prim appears to radar sensors.
+
+    Example:
+        # Make a target highly reflective to radar
+        set_radar_material("/World/car", reflectivity=0.9, metallic=1.0)
+
+    :param path: USD path of the prim to configure.
+    :param reflectivity: Radar reflectivity (0-1).
+    :param metallic: Metallic property (0-1).
+    :param roughness: Surface roughness (0-1).
+    :param backscattering: Backscattering coefficient.
+    :param cross_section: Radar cross section in dBsm.
+    """
+
+    Session.get_current().query_sim_rpc(
+        endpoint="set_radar_material",
+        payload=SetRadarMaterial(
+            path=path,
+            reflectivity=reflectivity,
+            metallic=metallic,
+            roughness=roughness,
+            backscattering=backscattering,
+            cross_section=cross_section,
+        ),
+    )

{antioch_py-2.0.6.dist-info → antioch_py-2.0.7.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: antioch-py
-Version: 2.0.6
+Version: 2.0.7
 Summary: The Antioch Python SDK
 Author-email: Antioch Robotics <support@antioch.dev>
 License-Expression: MIT

{antioch_py-2.0.6.dist-info → antioch_py-2.0.7.dist-info}/RECORD

@@ -12,10 +12,10 @@ antioch/session/ark.py,sha256=CF9zaRAZXiVLOkmZpBEaGG4-wydMZ7aUVOnXqnqYZ4U,19096
 antioch/session/asset.py,sha256=G4wKHVxDkzLEtUap7b7jDF6Y_I4gdHiJ-b756QFBx54,2222
 antioch/session/error.py,sha256=hEByLcsS8PPpK46prnz1GSWBx0ErGTnSkwBd29FUmWg,1685
 antioch/session/record.py,sha256=acNeikDeWJFZLovgwbXGHTriqi5-szYjjrnt9s_cdUY,5527
-antioch/session/scene.py,sha256=SsbRfmjvJbRm_jXaT8l_fjvJDWR7QH5USDHuEZWBvVg,58536
+antioch/session/scene.py,sha256=gESd-ax_xW7ZKPCUejzZMHYGPO0ouG3Ud_TFsHiMrec,60369
 antioch/session/session.py,sha256=MxyWAC56SGC6BORzlw8Sxp4s4QBFuxPb7t0kScYDEtM,6626
 antioch/session/task.py,sha256=ERji5YWU82TL5txBNTLQemJB7Y7xIqS5l76re7MUgvo,11831
-antioch/session/views/__init__.py,sha256=81NjZdBs9HZX97Y2nMryfu644icbCLjucnP3_cccfSg,1156
+antioch/session/views/__init__.py,sha256=ida-X6eUhYC0nZ6Bk43yoy2sgKyiPU9Am-N90XG0WgM,1252
 antioch/session/views/animation.py,sha256=oID0fM3RSU1d3CVA5EiEizKJF18CfNla_1ta7YCQt40,5960
 antioch/session/views/articulation.py,sha256=0akkhmBJhbJrNmmNwob-S2-t_21Jq9PipTesjYR6wLU,7870
 antioch/session/views/basis_curve.py,sha256=YMz9pMgj4fLkjhr3QZz8_RBv_HnMN3ZcvLj32WseIlE,5685
@@ -26,15 +26,16 @@ antioch/session/views/ground_plane.py,sha256=oTpGcATB5SirxD1eZUMCeD28eIeDJ6a7E1p
 antioch/session/views/imu.py,sha256=1EVLRptXSqs4YMJt_wiwXM-B95HzVQmx3MyRblTADMs,1889
 antioch/session/views/joint.py,sha256=x_clYul4SsCIl0WQAW61w6sS0iDXompvZVEv_2YFG9c,1735
 antioch/session/views/light.py,sha256=Q9Nn8o0PV9in8Q4eoobsbRxEPhn3xps57K7Z4QmGE8s,4698
+antioch/session/views/material.py,sha256=IfXTj1lJwKWvpz-yj2kELtBbVPAJx_ILVViXUIKKfrI,2071
 antioch/session/views/pir_sensor.py,sha256=ynEpRz7rwATBAs29QPEcDOuEPxB_jjKnmH05N0KA_FA,4048
-antioch/session/views/radar.py,sha256=P8rtNW_c5sgJ-XHMk5VjQ9T8Ot1j-ZPy5EaifC1ujvs,1924
+antioch/session/views/radar.py,sha256=JAmLvhcqqjbD90Og-YeqjfU8gDk-q5IgMCazEgbapxU,3546
 antioch/session/views/rigid_body.py,sha256=NI-2bFnOLQqClQ3pOhzkggLAhClyKVBXyTmWXgqkZEU,7760
 antioch/session/views/xform.py,sha256=BELykGHYhdZyHkCY6uakCnmJKwhyiDrCEGy9038GY_Y,3299
 common/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 common/constants.py,sha256=xlgBKdPoiDzAnWkeEsnktMJfXjBP5FTJkM3MGClTnuY,1085
 common/ark/__init__.py,sha256=Lu2lJ5k7-vN6ZGeX2sYhRwzXEyt9kCyXtgsyvdIaCiU,1472
 common/ark/ark.py,sha256=rToMvtpu634ylJbEfYlTD13Cb3udF_S4SfI8xQsL1P4,2376
-common/ark/hardware.py,sha256=_9CPY_-o5yWgiB8x5pj7dwS8pH0hDCZwyWADCyf32dw,3061
+common/ark/hardware.py,sha256=4A7g_rQO9Ylj5majqJMEgBBWHE8rEjcbAj8yhPBkxiM,2420
 common/ark/kinematics.py,sha256=G4wzFVyG_awFPJ8SKcZMZCBQkZkF5g6NQg4RhUjAGCs,753
 common/ark/module.py,sha256=IwkoirFb4dZkfVpn3tjgChRy5S6hVPbrtR9XgJ5UIBI,1922
 common/ark/node.py,sha256=PWESl7sDdY_Q6aA3CZMRTQ0SONlO9LkUmXhRbUhT8_g,2303
@@ -57,7 +58,7 @@ common/message/image.py,sha256=aF_rU_sOSJQci6g_Wr5Sd16FUFnHm2kgurqWcPPKbaA,5296
 common/message/imu.py,sha256=mwIu_dK64aixrnz6Hsg8v-vXVKUabLBNbfHe2KqbVPo,328
 common/message/joint.py,sha256=V9qEILZVaWoAbKGT_V3wvSAvZzoJ7YmrcROkIdzmg5o,1051
 common/message/log.py,sha256=VN1zCwrUtTPNiyakNjYPZuz3UDMtW19fhD1F1M8MTf8,552
-common/message/pir.py,sha256=4HjYg-gefe0PGNNKtmXm4hV8BPKM-boARPkHgXkmTH8,719
+common/message/pir.py,sha256=nSm5dymphomoOZqZAtQeUCowrIginEjVvLwW9NdGNAU,797
 common/message/point.py,sha256=oryHZEltba1z3GFRyb099oDddmiLE5SM4TKexgtBYaE,2229
 common/message/point_cloud.py,sha256=e06e6-bGaN8VzwkCy4MltDZocnKP7Bbr14gBlUhXu-A,2035
 common/message/pose.py,sha256=fcb0-xuIYWaaHHGC_iET9yma1fuicFvXJsaJaLO5XVI,4703
@@ -82,8 +83,9 @@ common/session/views/ground_plane.py,sha256=iHi7bx3qHveh94b88oPz7Yy9cjznc194T6Bx
 common/session/views/imu.py,sha256=usMm4yeqY_emcTQGjs2hC3Rk-tfen2dp0fIWTDADpxc,1593
 common/session/views/joint.py,sha256=eP5fLAWqvaQ13xZrNkn79DdRERZMvVrP9emJYZ_J_KA,2098
 common/session/views/light.py,sha256=IpqkSB6qZCfbe63GAJaPHdy4rJDNki8h-Hm-1kwDwHc,2284
-common/session/views/pir_sensor.py,sha256=ykAylA5MK97u_8uyfOYDhoJxdhV023gxn-9EggS3_B8,4936
-common/session/views/radar.py,sha256=kM3HcBriE1bQDwgafsRjInQOkEH05IUynJqutSZyT24,2426
+common/session/views/material.py,sha256=QtklOzGZn7nPiMzR7aq9u0nTSkCUlY-rsaPzfv1f9EQ,942
+common/session/views/pir_sensor.py,sha256=HyrV5SU9GEWBL-s9B6AKoR6VhhvPxr7EnEzhSwyECPc,5495
+common/session/views/radar.py,sha256=KTEwFKvEr3f2SrdAhb3iSIKRMKa0PIRXx7-T5hRiDgg,3429
 common/session/views/rigid_body.py,sha256=19cjU2bZvaFzs8OoNsu4gzZHu97nJMUueBc6Wt0NUWk,4523
 common/session/views/viewport.py,sha256=tPb1yCFd5nqCapkqSyWCEJ8joEk3fIIfZNr1uAbNAfM,682
 common/session/views/xform.py,sha256=uxcmtFFGKLF-Jkln1r08CZuyLr7EI8DvdKYuyUFdieM,863
@@ -92,8 +94,8 @@ 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-2.0.6.dist-info/METADATA,sha256=NszvfGjvH5If8-N-J4BfHPsxZfbWH01JFvvHFTKe9Lg,3485
-antioch_py-2.0.6.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-antioch_py-2.0.6.dist-info/entry_points.txt,sha256=1bLTH5BXCOsQkS8k6L_wJ6Nj62j4aoU9Ey_PhWzsRRM,59
-antioch_py-2.0.6.dist-info/top_level.txt,sha256=GtzNccsep3YdBt9VXQ7-ZFsFJFffr4hyZvqg0YqRqtw,15
-antioch_py-2.0.6.dist-info/RECORD,,
+antioch_py-2.0.7.dist-info/METADATA,sha256=Pbd_ezyxJrXnLGCkcb1RhzJP9PuBnEVBkIUMUhAamSU,3485
+antioch_py-2.0.7.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+antioch_py-2.0.7.dist-info/entry_points.txt,sha256=1bLTH5BXCOsQkS8k6L_wJ6Nj62j4aoU9Ey_PhWzsRRM,59
+antioch_py-2.0.7.dist-info/top_level.txt,sha256=GtzNccsep3YdBt9VXQ7-ZFsFJFffr4hyZvqg0YqRqtw,15
+antioch_py-2.0.7.dist-info/RECORD,,

common/ark/hardware.py

@@ -1,8 +1,9 @@
 from __future__ import annotations
 
 from enum import Enum
+from typing import Annotated, Literal, Union
 
-from pydantic import Field, ValidationInfo, field_validator
+from pydantic import Field
 
 from common.message import Message, Pose
 from common.session.views.articulation import ArticulationConfig
@@ -29,6 +30,7 @@ class ActuatorGroupHardware(Message):
     Actuator group hardware that controls multiple joints.
     """
 
+    type: Literal[HardwareType.ACTUATOR_GROUP] = HardwareType.ACTUATOR_GROUP
     module: str
     name: str
     config: ArticulationConfig
@@ -39,6 +41,7 @@ class ImuHardware(Message):
     IMU sensor hardware attached to a link.
     """
 
+    type: Literal[HardwareType.IMU] = HardwareType.IMU
     module: str
     name: str
     path: str
@@ -52,6 +55,7 @@ class PirHardware(Message):
     PIR (Passive Infrared) sensor hardware attached to a link.
     """
 
+    type: Literal[HardwareType.PIR] = HardwareType.PIR
     module: str
     name: str
     path: str
@@ -65,6 +69,7 @@ class RadarHardware(Message):
     Radar sensor hardware attached to a link.
     """
 
+    type: Literal[HardwareType.RADAR] = HardwareType.RADAR
     module: str
     name: str
     path: str
@@ -80,6 +85,7 @@ class CameraHardware(Message):
     Used for both RGB and depth cameras - the mode is specified in the config.
     """
 
+    type: Literal[HardwareType.CAMERA] = HardwareType.CAMERA
     module: str
     name: str
     path: str
@@ -88,34 +94,8 @@ class CameraHardware(Message):
     config: CameraConfig
 
 
-class Hardware(Message):
-    """
-    Union of all hardware types for an Ark.
-    """
-
-    type: HardwareType
-    config: ActuatorGroupHardware | ImuHardware | PirHardware | RadarHardware | CameraHardware
-
-    @field_validator("config", mode="before")
-    @classmethod
-    def validate_config(cls, config: dict, info: ValidationInfo):
-        """
-        Validate the hardware config based on the type field.
-        """
-
-        hw_type = info.data.get("type")
-        if hw_type is None:
-            raise ValueError("Hardware type is required")
-        match hw_type:
-            case HardwareType.ACTUATOR_GROUP:
-                return ActuatorGroupHardware.model_validate(config)
-            case HardwareType.IMU:
-                return ImuHardware.model_validate(config)
-            case HardwareType.PIR:
-                return PirHardware.model_validate(config)
-            case HardwareType.RADAR:
-                return RadarHardware.model_validate(config)
-            case HardwareType.CAMERA:
-                return CameraHardware.model_validate(config)
-            case _:
-                raise ValueError(f"Unknown hardware type: {hw_type}")
+# Discriminated union based on the 'type' field
+Hardware = Annotated[
+    Union[ActuatorGroupHardware, ImuHardware, PirHardware, RadarHardware, CameraHardware],
+    Field(discriminator="type"),
+]

common/message/pir.py

@@ -9,8 +9,10 @@ class PirStatus(Message):
     """
 
     _type = "antioch/pir_status"
-    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_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)")
+    is_detected: bool = Field(description="Whether motion is currently detected (aggregated across all sensors)")
+    signal_strength: float = Field(description="Max absolute signal strength across all sensors")
+
+    # Multi-sensor status
+    sensor_states: list[bool] = Field(default_factory=list, description="Detection state per sensor (Center, Left, Right)")
+    sensor_signals: list[float] = Field(default_factory=list, description="Signal strength per sensor")
+    sensor_thresholds: list[float] = Field(default_factory=list, description="Detection threshold per sensor")

common/session/views/material.py

@@ -0,0 +1,25 @@
+from pydantic import Field
+
+from common.message import Message
+
+
+class SetNonVisualMaterial(Message):
+    """
+    Set non-visual material properties on all Material prims in a subtree.
+
+    These properties define how objects appear to RTX sensors (LiDAR and Radar).
+    Based on Isaac Sim's isaacsim.sensors.rtx.nonvisual_materials system.
+    """
+
+    path: str = Field(description="USD path of the root prim to configure")
+    base: str = Field(description="Base material type (e.g. 'aluminum', 'skin', 'plastic')")
+    coating: str = Field(default="none", description="Coating type (e.g. 'none', 'paint', 'clearcoat')")
+    attribute: str = Field(default="none", description="Material attribute (e.g. 'none', 'emissive', 'retroreflective')")
+
+
+class SetNonVisualMaterialResponse(Message):
+    """
+    Response from setting non-visual material.
+    """
+
+    materials_modified: int = Field(description="Number of Material prims modified")

common/session/views/pir_sensor.py

@@ -13,32 +13,36 @@ class PirSensorConfig(Message):
 
     # Core sensor parameters
     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")
+    max_range: float = Field(default=20.0, 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")
+    # FOV configuration
+    total_horiz_fov_deg: float = Field(default=150.0, description="Total horizontal coverage. Enables automatic fanning.")
+    sensor_side_fov_deg: float = Field(default=45.0, description="Horizontal FOV for side sensors")
+    sensor_center_fov_deg: float = Field(default=45.0, description="Horizontal FOV for center sensor")
 
     # 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")
+    sensor_rays_horiz: int = Field(default=128, description="Number of rays per sensor in horizontal direction")
+    sensor_rays_vert: int = Field(default=16, description="Number of rays per sensor 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=1.0, description="Low-pass filter corner frequency in Hz")
+    # Sensor vertical angle range
+    min_vertical_angle_center: float = Field(default=-30.0, description="Minimum vertical angle for center sensor in degrees")
+    max_vertical_angle_center: float = Field(default=30.0, description="Maximum vertical angle for center sensor in degrees")
+    min_vertical_angle_side: float = Field(default=-30.0, description="Minimum vertical angle for side sensors in degrees")
+    max_vertical_angle_side: float = Field(default=30.0, description="Maximum vertical angle for side sensors in degrees")
 
-    hold_time_s: float = Field(default=2.0, description="Detection hold time in seconds")
+    # DSP / electronics parameters
+    gain_center: float = Field(default=0.015, description="Amplifier gain for center sensor")
+    gain_sides: float = Field(default=0.01, description="Amplifier gain for side sensors")
+    hp_corner_hz: float = Field(default=0.4, description="High-pass filter corner frequency in Hz")
+    lp_corner_hz: float = Field(default=10.0, description="Low-pass filter corner frequency in Hz")
+    blind_time_s: float = Field(default=0.5, description="Blind time after detection in seconds")
+    pulse_counter: int = Field(default=2, description="Number of pulses required to trigger detection (1-4)")
+    window_time_s: float = Field(default=2.0, description="Window time for pulse counting in seconds")
+    count_mode: int = Field(default=0, description="Pulse counting mode (0: sign change required, 1: any crossing)")
 
     # Lens parameters
     lens_transmission: float = Field(default=0.9, description="Lens transmission coefficient (0-1)")
     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")
@@ -49,8 +53,8 @@ class PirSensorConfig(Message):
 
     # 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")
+    pyro_responsivity: float = Field(default=4000.0, description="Pyroelectric responsivity scaling factor")
+    noise_amplitude: float = Field(default=20e-6, 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")

common/session/views/radar.py

@@ -65,6 +65,15 @@ class GetRadarScan(Message):
     path: str
 
 
+class SetRadarDebugMode(Message):
+    """
+    Enable or disable debug visualization for a radar sensor.
+    """
+
+    path: str
+    enabled: bool = Field(description="Whether to enable debug visualization")
+
+
 class BufferRadarRead(Message):
     """
     Request to buffer current radar scan at simulation time.
@@ -80,3 +89,19 @@ class GetBufferedRadarRead(Message):
 
     path: str
     read_sim_time: float
+
+
+class SetRadarMaterial(Message):
+    """
+    Set radar-specific material properties on a prim and all materials in its subtree.
+
+    These properties define how the prim appears to radar sensors.
+    Based on RTX Sensor Non-Visual Materials system.
+    """
+
+    path: str = Field(description="USD path of the prim to configure")
+    reflectivity: float | None = Field(default=None, description="Radar reflectivity (0-1)")
+    metallic: float | None = Field(default=None, description="Metallic property (0-1)")
+    roughness: float | None = Field(default=None, description="Surface roughness (0-1)")
+    backscattering: float | None = Field(default=None, description="Backscattering coefficient")
+    cross_section: float | None = Field(default=None, description="Radar cross section in dBsm")