antioch-py 2.0.6__py3-none-any.whl → 2.1.0__py3-none-any.whl

antioch/session/session.py

@@ -1,6 +1,6 @@
 import os
 import time
-from typing import overload
+from typing import Any, overload
 
 from antioch.session.error import (
     SessionSimRpcClientError,
@@ -50,7 +50,7 @@ class Session:
 
     Example:
         session = Session.get_current()
-        state = session.query_sim_rpc(endpoint="get_state", response_type=SimulationState)
+        result = session.query_sim_rpc("get_state")
     """
 
     _current: "Session | None" = None
@@ -96,11 +96,7 @@ class Session:
         """
 
         try:
-            self.query_sim_rpc(
-                endpoint="get_info",
-                response_type=SimulationInfo,
-                timeout=1.0,
-            )
+            self.query_sim_rpc("get_info", response_type=SimulationInfo, timeout=1.0)
             return True
         except Exception:
             return False
@@ -141,35 +137,37 @@ class Session:
     def query_sim_rpc(
         self,
         endpoint: str,
-        response_type: None = None,
-        payload: Message | None = None,
+        payload: dict[str, Any] | None = None,
+        *,
         timeout: float = 60.0,
-    ) -> None: ...
+    ) -> Any | None: ...
 
     @overload
-    def query_sim_rpc[T: Message](
+    def query_sim_rpc[T](
         self,
         endpoint: str,
+        payload: dict[str, Any] | None = None,
+        *,
         response_type: type[T],
-        payload: Message | None = None,
         timeout: float = 60.0,
     ) -> T: ...
 
-    def query_sim_rpc[T: Message](
+    def query_sim_rpc[T](
         self,
         endpoint: str,
+        payload: dict[str, Any] | None = None,
+        *,
         response_type: type[T] | None = None,
-        payload: Message | None = None,
         timeout: float = 60.0,
-    ) -> T | None:
+    ) -> T | Any | None:
         """
         Execute a sim RPC query.
 
         :param endpoint: The sim RPC endpoint.
-        :param response_type: Expected response payload type.
-        :param payload: Optional request payload.
+        :param payload: Optional request payload dict.
+        :param response_type: Expected response type (Message subclass or primitive like int, str, bool).
         :param timeout: Query timeout in seconds.
-        :return: The response payload or None if no payload.
+        :return: Response as typed object, arbitrary data, or None.
         :raises SessionSimRpcNotConnectedError: If the Sim RPC server is not reachable.
         :raises SessionSimRpcClientError: If the Sim RPC server returns a client error.
         :raises SessionSimRpcInternalError: If the Sim RPC server returns an internal error.
@@ -177,24 +175,33 @@ class Session:
 
         try:
             start_time = time.perf_counter() if self._debug else 0
-
-            # Normal RPC call
-            rpc_response = self._comms.query(
+            response = self._comms.query(
                 path=f"_sim/rpc/{endpoint}",
                 response_type=RpcResponse,
-                request=RpcCall(payload=payload.pack() if payload else None),
+                request=RpcCall(data=payload),
                 timeout=timeout or self._timeout,
             )
 
-            result = None
-            self._check_rpc_error(rpc_response)
-            if response_type is not None and rpc_response.payload is not None:
-                result = response_type.unpack(rpc_response.payload)
+            # Check for errors in RPC response
+            if response.error is not None:
+                if response.error.internal:
+                    raise SessionSimRpcInternalError(message=response.error.message, traceback=response.error.traceback)
+                else:
+                    raise SessionSimRpcClientError(response.error.message)
+
+            # Print elapsed time in debug mode
             if self._debug:
                 elapsed_ms = (time.perf_counter() - start_time) * 1000
                 print(f"[SIM-RPC] {endpoint}: {elapsed_ms:.1f}ms", flush=True)
 
-            return result
+            # Return response data or None if no data
+            if response.data is None:
+                return None
+            if response_type is not None:
+                if issubclass(response_type, Message):
+                    return response_type.model_validate(response.data)
+                return response.data
+            return response.data
 
         except TimeoutError as e:
             if not self.connected:
@@ -202,19 +209,3 @@ class Session:
             raise
         except KeyboardInterrupt as e:
             raise SessionSimRpcInterruptedError("Sim RPC interrupted") from e
-
-    @staticmethod
-    def _check_rpc_error(response: RpcResponse) -> None:
-        """
-        Check for errors in Sim RPC response and raise appropriate exceptions.
-
-        :param response: The Sim RPC response to check.
-        :raises SessionSimRpcInternalError: If response contains an internal error.
-        :raises SessionSimRpcClientError: If response contains a client error.
-        """
-
-        if response.error is not None:
-            if response.error.internal:
-                raise SessionSimRpcInternalError(message=response.error.message, traceback=response.error.traceback)
-            else:
-                raise SessionSimRpcClientError(response.error.message)

antioch/session/task.py

@@ -201,8 +201,8 @@ class Task(SessionContainer):
             except Exception as e:
                 raise SessionTaskError(f"Failed to create bundle: {e}") from e
 
-        # Reset telemetry and save the MCAP file to disk
-        self._agent.reset_telemetry()
+        # Save the MCAP file to disk (does not reset websocket session)
+        self._agent.save_telemetry()
 
         # Upload task to Antioch Cloud
         try:
@@ -224,20 +224,6 @@ class Task(SessionContainer):
         self._ark_hash = None
         self._task_start_time = None
 
-    def clear(self) -> None:
-        """
-        Clear the task and reset the task state.
-        """
-
-        self._agent.reset_telemetry()
-        self._logger = None
-        self._started = False
-        self._mcap_path = None
-        self._ark_name = None
-        self._ark_version = None
-        self._ark_hash = None
-        self._task_start_time = None
-
     def _create_bundle(self, bundle_paths: list[Path]) -> str:
         """
         Create a tar.gz archive from the provided file paths.

{antioch_py-2.0.6.dist-info → antioch_py-2.1.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: antioch-py
-Version: 2.0.6
+Version: 2.1.0
 Summary: The Antioch Python SDK
 Author-email: Antioch Robotics <support@antioch.dev>
 License-Expression: MIT

{antioch_py-2.0.6.dist-info → antioch_py-2.1.0.dist-info}/RECORD

@@ -7,46 +7,46 @@ antioch/module/input.py,sha256=BGbJ6AOgm7gVTO6PBYs8B53q0v_YD3Jy2joM5M7kUlk,4317
 antioch/module/module.py,sha256=6b9s_N1Tpr4Wtp8hXVxZHDzhfKgG2IHeOd8KE65TfMk,7581
 antioch/module/node.py,sha256=1EDNzKbQINs4nKZiSdn_FEPg-3MyCKdC0b7pfucmLgk,14542
 antioch/module/token.py,sha256=6KJbPMoaMqUrx8nfYzAgVTf8EaazT46g6KMC1zO97Pk,830
-antioch/session/__init__.py,sha256=jZTav-Y9IyYqIpyloQuCkaPfRLKPGx-TWmwOrkteJn8,3891
-antioch/session/ark.py,sha256=CF9zaRAZXiVLOkmZpBEaGG4-wydMZ7aUVOnXqnqYZ4U,19096
+antioch/session/__init__.py,sha256=-TtFaO3SCjIjBvh29Dso54qlfqnfdUbUN_p8tW5i220,3526
+antioch/session/ark.py,sha256=r8hpCM8wymtgIX1mcvGofQR6mZOdn9UCsnFAtnnpvto,18814
 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/session.py,sha256=MxyWAC56SGC6BORzlw8Sxp4s4QBFuxPb7t0kScYDEtM,6626
-antioch/session/task.py,sha256=ERji5YWU82TL5txBNTLQemJB7Y7xIqS5l76re7MUgvo,11831
-antioch/session/views/__init__.py,sha256=81NjZdBs9HZX97Y2nMryfu644icbCLjucnP3_cccfSg,1156
-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
-antioch/session/views/camera.py,sha256=5S4shhmFqdJs39J00-E1pT7PobdfKWZfQfNbU6s-aNI,2613
-antioch/session/views/collision.py,sha256=7FjbB4PBoE4LEWoLqJhHCkYp57Da7qWcrLAKCiULV9M,1962
-antioch/session/views/geometry.py,sha256=8SyT5_tkJhtW4_VZsv-L6nXE8kRweeLzu-UP-KHABe4,2241
-antioch/session/views/ground_plane.py,sha256=oTpGcATB5SirxD1eZUMCeD28eIeDJ6a7E1pFpj9E_xY,1762
-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/pir_sensor.py,sha256=ynEpRz7rwATBAs29QPEcDOuEPxB_jjKnmH05N0KA_FA,4048
-antioch/session/views/radar.py,sha256=P8rtNW_c5sgJ-XHMk5VjQ9T8Ot1j-ZPy5EaifC1ujvs,1924
-antioch/session/views/rigid_body.py,sha256=NI-2bFnOLQqClQ3pOhzkggLAhClyKVBXyTmWXgqkZEU,7760
-antioch/session/views/xform.py,sha256=BELykGHYhdZyHkCY6uakCnmJKwhyiDrCEGy9038GY_Y,3299
+antioch/session/scene.py,sha256=LVUqNZc_PonI8X6tg5rrKSTv3zqdAQERt-QOk-g4MhA,58585
+antioch/session/session.py,sha256=K25RZZ8HYMUpyeDoCzzWh-YLs1DcjBlrzxN2SvbtZ4E,6348
+antioch/session/task.py,sha256=OBGFAD-oWRjkQUAElO9bXhJ_SI-j7S6TxKpUmCgN1-M,11484
+antioch/session/objects/__init__.py,sha256=n7EYDfneWwro1OaXphbWGyasZ0tvAAAGe72PcUmTF_Y,1184
+antioch/session/objects/animation.py,sha256=FIgYsHG9TWcdi5aG3ycGorJv-nJBFkiHArDWXLEx8bY,5427
+antioch/session/objects/articulation.py,sha256=bSAvi6ZOAGOPTsXEtt8fGAG3VF8UR8TxSL0L1izGtbQ,6644
+antioch/session/objects/basis_curve.py,sha256=7LD7B92Ohr2bPm5Lh76NaMbFRiHFcUIxaKjWcMYtykc,4954
+antioch/session/objects/camera.py,sha256=clFfSKKlvMlh8x_OZb7AmHrqmWxO9sI760_LGvIBwBM,2252
+antioch/session/objects/collision.py,sha256=ZGAINF7p3MbCoTwvx4Pzicc8dIfbJgjBgUn_TC_hrT0,1479
+antioch/session/objects/geometry.py,sha256=MuC6qnHCVGnxYGovHU8U2G-tRGbINoL273t3yYQAPCE,1954
+antioch/session/objects/ground_plane.py,sha256=o82nW9Ndhw-AiwiSKUrr1IhspFmdah7BYOTc1EUVEeg,1460
+antioch/session/objects/imu.py,sha256=vx59MutAg1HOEvZESqOmxlQocrnXEW1B5rqD7LBzLwM,1602
+antioch/session/objects/joint.py,sha256=_mqXq1IDvzQ9FnvCpKXGa0YNh8f9zCtmskC8UP4QgNI,1476
+antioch/session/objects/light.py,sha256=Sl0zPIiCnocCCLUaaJaiDLbHVhAJ-ZnIr9IOueIrc_g,3831
+antioch/session/objects/pir_sensor.py,sha256=M7-xs4h0-Mq3_Qea0K4ZrezDTOnqL4nXVjLZIIKHdwU,3455
+antioch/session/objects/radar.py,sha256=BXl8OzngiY_urBRBB7kAlBHvtpR9aosWv7nuYcKSeWo,1930
+antioch/session/objects/rigid_body.py,sha256=TuJ04vG0eyzg4lFAVp7ZE0YTzOjhlcqLoNaeW2sZM0E,6294
+antioch/session/objects/xform.py,sha256=VkSDIfFEuutrDVuKO2F5sI4zKsGa0xZzxFeH-tRMjp0,3237
 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/kinematics.py,sha256=G4wzFVyG_awFPJ8SKcZMZCBQkZkF5g6NQg4RhUjAGCs,753
+common/ark/hardware.py,sha256=5AH9jkrjIvVK6JBfWM7Okpqm9Iqbs7gtyxktlzBS4oI,2252
+common/ark/kinematics.py,sha256=BCPQKmQ5vWlZBCie861TIImmR3X5BniiuGRPoIvByDM,748
 common/ark/module.py,sha256=IwkoirFb4dZkfVpn3tjgChRy5S6hVPbrtR9XgJ5UIBI,1922
 common/ark/node.py,sha256=PWESl7sDdY_Q6aA3CZMRTQ0SONlO9LkUmXhRbUhT8_g,2303
 common/ark/scheduler.py,sha256=QGO_-ZewCvOHJ-w9BAJJQdco0-b-mbbzufpSX9b-mNo,15703
 common/ark/sim.py,sha256=SQtZkf97QF91oLWkTUEhq62GYL3yk7-LLDDR-lXVKcA,900
 common/assets/__init__.py,sha256=We71LsStYI5-hknGd2XHrvHg8G4k1dity887BnI5oPI,102
 common/core/__init__.py,sha256=L8rvLHQd-mOCfDQ2WN9BZiMqU0skeTTkeQvpJ59ouqI,1110
-common/core/agent.py,sha256=UJrZjLPLNLUIWe6-pDB3vE_hUD8JzUTwM87MRxjPYmg,7764
+common/core/agent.py,sha256=EBNSTuxCOUM66UV7e1LA1aQLyYgIsRjFZXWqbbp-lR0,8613
 common/core/auth.py,sha256=TeJIhYm8buQLAkl3jORuGV03pP1MNOhetHunE9z2nsM,9347
 common/core/registry.py,sha256=J2Ihhgr6aTfovm-zSiGEcyHB8iBcpFcZVw6vVYKFjNg,11399
 common/core/task.py,sha256=eybV7yQ8nPYgQtYuse-QvoMJ87Msh6rAN_LUOTGmN94,629
-common/message/__init__.py,sha256=O9HKA_9yJk1-bVhn7CRfY2Q_8H0nze7PjTRZB8fJIec,1747
+common/message/__init__.py,sha256=JHTTMFuMYUF9jspydMihfz2dK9-Mp37zWOTMZBUwK5g,1802
 common/message/annotation.py,sha256=BlzDYhioAK1ATFfgZozmaF7uOqFdSr7KBhe2m03Z2q4,1911
 common/message/array.py,sha256=Fly7u8BE-_QRwnkmv3k6P2EI0FguEUIzF_tE-mFGT1Q,13971
 common/message/base.py,sha256=kdBEmcHy6R9EV_QbarSwPWZE0n_Sar-gXK8g5ceT2-U,18080
@@ -57,7 +57,7 @@ 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
@@ -65,35 +65,21 @@ common/message/quaternion.py,sha256=Y6-XR3g7VaWVOkLoK6hE26wTYjnJFjrHIv9y17GM1EY,
 common/message/radar.py,sha256=18w89hpq5tahh9V_49CWKXkU78b21xrTj_bH35u1UFE,2014
 common/message/types.py,sha256=k2wtbozsyd4HhMBoDfPFMLyCAGmTxaOvVhzIr-wx3N0,480
 common/message/vector.py,sha256=IrREGUi2zKTUmp5PG4YNiJKEM1zRXLl0fK9QuF7I06o,20302
+common/message/velocity.py,sha256=vHcFH_nMNBgobwY7dLeBaHJNvNiJxsQaPxImUh3GjHY,205
 common/rome/__init__.py,sha256=hfwUw5wbT-Ph-OFwGhiqw3XEeWaZwmLAs66LOYKqfzU,210
 common/rome/client.py,sha256=6cFzqXilZWNndRAhJctqdPjQQbJM4a0BzoyGYZapIh0,15462
 common/rome/error.py,sha256=oW8yI81o3hQghop4omFcMkXx4IbacGye38Iyw2VKihQ,294
-common/session/__init__.py,sha256=q0sWg6gKU2dNX0IzBAXHTpwarg1eYwCjQYWmII2SW70,1131
+common/session/__init__.py,sha256=S6DsgJbRwFHaEcqe2CNrR_KI2811B1auLv-VX4g5JVU,643
+common/session/config.py,sha256=IxNK4uGRVmruLq9eFktBu8opyc_ACg1kysgkvCb5lho,17874
 common/session/environment.py,sha256=CVW00KXWF8L0L6ocUsZ2UWt-iqAiP0usFdhZsK43fak,714
-common/session/sim.py,sha256=0eSxUwiHWh-siombwy3qX_e-oZ7KGbwIh-GvAxiGZAM,5717
-common/session/views/__init__.py,sha256=AVqMcuR_rA2mO7JmttYcACnHXsNyIf4xvqmDBCXft30,6525
-common/session/views/animation.py,sha256=Dz9bFMQeLGWaOgQ9GPOMjBBZ7uB2Nynk0ovQl9EDBfA,2407
-common/session/views/articulation.py,sha256=DwJTQk8iU3vII9aEc9_CBtUEszD1uhfCAr2NNJP9SBA,5044
-common/session/views/basis_curve.py,sha256=56ylRppXA6_pUWJvSS_XjgI5rxBtJ0v16zU7vM8RcnQ,3115
-common/session/views/camera.py,sha256=H9Gt0K9DhoiBKxeSyljezj6Mn1-Rp4-vkf_4our3IPE,4458
-common/session/views/collision.py,sha256=brMzJRsYXW9MAqmPMzovSBx73MM870V3hzfkL5yroFY,1360
-common/session/views/geometry.py,sha256=7CBTugs8Onr7tddyzz5g5f3HY7rz_9tuIxYbRWbnFmM,3453
-common/session/views/ground_plane.py,sha256=iHi7bx3qHveh94b88oPz7Yy9cjznc194T6Bx9I6SK1Q,1174
-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/rigid_body.py,sha256=19cjU2bZvaFzs8OoNsu4gzZHu97nJMUueBc6Wt0NUWk,4523
-common/session/views/viewport.py,sha256=tPb1yCFd5nqCapkqSyWCEJ8joEk3fIIfZNr1uAbNAfM,682
-common/session/views/xform.py,sha256=uxcmtFFGKLF-Jkln1r08CZuyLr7EI8DvdKYuyUFdieM,863
+common/session/sim.py,sha256=CrwVPbu0m8UAFUSsTsU_TMgD1Ik9FKxs9FsaepIuZzg,2859
 common/utils/__init__.py,sha256=9zRb7XayzCGRs4I94hWKJHyQ1MevlUiTzXsPNBLBX7Y,113
 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-2.1.0.dist-info/METADATA,sha256=3OC3a-QVismTnO4q-fDOvSjPScvGZqPKSMEeCcrJ-ro,3485
+antioch_py-2.1.0.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+antioch_py-2.1.0.dist-info/entry_points.txt,sha256=1bLTH5BXCOsQkS8k6L_wJ6Nj62j4aoU9Ey_PhWzsRRM,59
+antioch_py-2.1.0.dist-info/top_level.txt,sha256=GtzNccsep3YdBt9VXQ7-ZFsFJFffr4hyZvqg0YqRqtw,15
+antioch_py-2.1.0.dist-info/RECORD,,

common/ark/hardware.py

@@ -1,15 +1,12 @@
 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
-from common.session.views.camera import CameraConfig
-from common.session.views.imu import ImuConfig
-from common.session.views.pir_sensor import PirSensorConfig
-from common.session.views.radar import RadarConfig
+from common.session.config import ArticulationConfig, CameraConfig, ImuConfig, PirSensorConfig, RadarConfig
 
 
 class HardwareType(str, Enum):
@@ -29,6 +26,7 @@ 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 +37,7 @@ class ImuHardware(Message):
     IMU sensor hardware attached to a link.
     """
 
+    type: Literal[HardwareType.IMU] = HardwareType.IMU
     module: str
     name: str
     path: str
@@ -52,6 +51,7 @@ 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 +65,7 @@ class RadarHardware(Message):
     Radar sensor hardware attached to a link.
     """
 
+    type: Literal[HardwareType.RADAR] = HardwareType.RADAR
     module: str
     name: str
     path: str
@@ -80,6 +81,7 @@ 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 +90,8 @@ 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/ark/kinematics.py

@@ -1,5 +1,5 @@
 from common.message import Message, Pose
-from common.session.views.joint import JointAxis, JointType
+from common.session.config import JointAxis, JointType
 
 
 class Joint(Message):

common/core/agent.py

@@ -63,6 +63,14 @@ class RecordTelemetryRequest(Message):
     websocket_port: int | None = None
 
 
+class SaveTelemetryRequest(Message):
+    """
+    Request to save telemetry (finalize MCAP without resetting session).
+    """
+
+    _type = "antioch/agent/save_telemetry_request"
+
+
 class AgentResponse(Message):
     """
     Generic response for agent operations.
@@ -251,6 +259,26 @@ class Agent:
         if not response.success:
             raise AgentError(f"Failed to start recording telemetry: {response.error}")
 
+    def save_telemetry(self) -> None:
+        """
+        Save telemetry by finalizing the MCAP file.
+
+        Closes the current MCAP recording if one is active. Does NOT reset the websocket
+        session or time tracking - telemetry continues streaming to connected clients.
+
+        :raises AgentError: If the agent fails to save telemetry.
+        """
+
+        response = self.comms.query(
+            path="_agent/save_telemetry",
+            response_type=AgentResponse,
+            request=SaveTelemetryRequest(),
+            timeout=5.0,
+        )
+
+        if not response.success:
+            raise AgentError(f"Failed to save telemetry: {response.error}")
+
     def reset_telemetry(self) -> None:
         """
         Reset telemetry session completely.

common/message/__init__.py

@@ -16,6 +16,7 @@ from common.message.quaternion import Quaternion
 from common.message.radar import RadarDetection, RadarScan
 from common.message.types import Bool, Float, Int, String
 from common.message.vector import Vector2, Vector3
+from common.message.velocity import Twist
 
 __all__ = [
     "Array",
@@ -56,4 +57,5 @@ __all__ = [
     "TextAnnotation",
     "Vector2",
     "Vector3",
+    "Twist",
 ]

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/message/velocity.py

@@ -0,0 +1,11 @@
+from common.message.base import Message
+from common.message.vector import Vector3
+
+
+class Twist(Message):
+    """
+    Linear and angular velocity (twist).
+    """
+
+    linear: Vector3
+    angular: Vector3

common/session/__init__.py

@@ -1,54 +1,31 @@
+from common.session.config import BodyType, DistortionModel, GeometryType, LightType, MeshApproximation
 from common.session.sim import (
-    AddAsset,
-    GetLocalPose,
-    GetPrimAttribute,
-    GetWorldPose,
     PrimAttributeValue,
     PrimInfo,
-    QueryScene,
     RpcCall,
     RpcError,
     RpcResponse,
     SceneQueryResponse,
     SceneTarget,
-    SetLocalPose,
-    SetPrimAttribute,
-    SetWorldPose,
     SimulationInfo,
     SimulationState,
     SimulationTime,
-    Step,
-    ToggleUi,
 )
-from common.session.views.camera import DistortionModel
-from common.session.views.geometry import GeometryType, MeshApproximation
-from common.session.views.light import LightType
-from common.session.views.rigid_body import BodyType
 
 __all__ = [
-    "AddAsset",
     "BodyType",
     "DistortionModel",
     "GeometryType",
-    "GetLocalPose",
-    "GetPrimAttribute",
-    "GetWorldPose",
     "LightType",
     "MeshApproximation",
     "PrimAttributeValue",
     "PrimInfo",
-    "QueryScene",
     "RpcCall",
     "RpcError",
     "RpcResponse",
     "SceneQueryResponse",
     "SceneTarget",
-    "SetLocalPose",
-    "SetPrimAttribute",
-    "SetWorldPose",
     "SimulationInfo",
     "SimulationState",
     "SimulationTime",
-    "Step",
-    "ToggleUi",
 ]