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

antioch/session/views/collision.py

@@ -1,75 +0,0 @@
-from antioch.session.session import Session
-from common.session.views.collision import (
-    GetMeshApproximation,
-    GetMeshApproximationResponse,
-    HasCollision,
-    HasCollisionResponse,
-    RemoveCollision,
-    SetCollision,
-)
-from common.session.views.geometry import MeshApproximation
-
-
-def set_collision(path: str, mesh_approximation: MeshApproximation | None = None) -> None:
-    """
-    Apply collision API to a prim, optionally with mesh approximation.
-
-    :param path: USD path to the prim.
-    :param mesh_approximation: Optional mesh approximation method for collision geometry.
-    """
-
-    Session.get_current().query_sim_rpc(
-        endpoint="set_collision",
-        payload=SetCollision(path=path, mesh_approximation=mesh_approximation),
-    )
-
-
-def remove_collision(path: str) -> None:
-    """
-    Remove collision API from a prim.
-
-    :param path: USD path to the prim.
-    """
-
-    Session.get_current().query_sim_rpc(
-        endpoint="remove_collision",
-        payload=RemoveCollision(path=path),
-    )
-
-
-def has_collision(path: str) -> bool:
-    """
-    Check if a prim has collision API applied.
-
-    :param path: USD path to the prim.
-    :return: True if collision API is applied.
-    """
-
-    return (
-        Session.get_current()
-        .query_sim_rpc(
-            endpoint="has_collision",
-            payload=HasCollision(path=path),
-            response_type=HasCollisionResponse,
-        )
-        .has_collision
-    )
-
-
-def get_mesh_approximation(path: str) -> MeshApproximation | None:
-    """
-    Get mesh collision approximation from a prim.
-
-    :param path: USD path to the prim.
-    :return: Mesh approximation method, or None if not set.
-    """
-
-    return (
-        Session.get_current()
-        .query_sim_rpc(
-            endpoint="get_mesh_approximation_rpc",
-            payload=GetMeshApproximation(path=path),
-            response_type=GetMeshApproximationResponse,
-        )
-        .approximation
-    )

common/session/views/__init__.py

@@ -1,263 +0,0 @@
-from common.message import PirStatus
-from common.session.views.animation import (
-    AddAnimationFromBasisCurve,
-    AddAnimationFromWaypoints,
-    GetAnimation,
-    GetAnimationResponse,
-    RemoveAnimation,
-    UpdateAnimationBasisCurve,
-    UpdateAnimationWaypoints,
-)
-from common.session.views.articulation import (
-    AddArticulation,
-    ArticulationConfig,
-    ArticulationJointConfig,
-    ArticulationJointConfigs,
-    ArticulationJointStates,
-    ArticulationJointTargets,
-    BufferArticulationRead,
-    BufferArticulationWrite,
-    BufferArticulationWriteResponse,
-    BufferedArticulationState,
-    GetArticulation,
-    GetArticulationJointConfigs,
-    GetArticulationJointStates,
-    GetArticulationJointTargets,
-    GetArticulationResponse,
-    GetBufferedArticulationRead,
-    SetArticulationJointConfigs,
-    SetArticulationJointStates,
-    SetArticulationJointTargets,
-)
-from common.session.views.basis_curve import (
-    AddBasisCurveSemiCircle,
-    GetBasisCurve,
-    GetBasisCurveExtents,
-    GetBasisCurveExtentsResponse,
-    GetBasisCurvePoints,
-    GetBasisCurvePointsResponse,
-    GetBasisCurveResponse,
-    RemoveBasisCurve,
-    SetBasisCurveVisibility,
-)
-from common.session.views.camera import AddCamera, CameraConfig, CameraMode, DistortionModel, GetCamera, GetCameraFrame, GetCameraResponse
-from common.session.views.collision import (
-    GetMeshApproximation,
-    GetMeshApproximationResponse,
-    HasCollision,
-    HasCollisionResponse,
-    RemoveCollision,
-    SetCollision,
-)
-from common.session.views.geometry import AddGeometry, GeometryConfig, GeometryType, GetGeometry, GetGeometryResponse, MeshApproximation
-from common.session.views.ground_plane import AddGroundPlane, GetGroundPlane, GetGroundPlaneResponse, GroundPlaneConfig
-from common.session.views.imu import AddImu, GetImu, GetImuResponse, GetImuSample, ImuConfig
-from common.session.views.joint import AddJoint, GetJoint, GetJointResponse, JointAxis, JointConfig, JointType
-from common.session.views.light import (
-    AddLight,
-    DisableLight,
-    EnableLight,
-    GetLight,
-    GetLightResponse,
-    LightConfig,
-    LightType,
-    SetLightColor,
-    SetLightIntensity,
-)
-from common.session.views.pir_sensor import (
-    AddPirSensor,
-    GetPirDetectionStatus,
-    GetPirSensor,
-    GetPirSensorResponse,
-    PirSensorConfig,
-    SetPirDebugMode,
-    SetPirMaterial,
-)
-from common.session.views.radar import (
-    AddRadar,
-    BufferRadarRead,
-    GetBufferedRadarRead,
-    GetRadar,
-    GetRadarResponse,
-    GetRadarScan,
-    RadarConfig,
-)
-from common.session.views.rigid_body import (
-    AddRigidBody,
-    ApplyForce,
-    ApplyForceAtPosition,
-    ApplyTorque,
-    BodyCenterOfMass,
-    BodyDistance,
-    BodyInertia,
-    BodyMass,
-    BodyType,
-    BodyVelocity,
-    BoundingBox,
-    DisableGravity,
-    DisablePhysics,
-    EnableGravity,
-    EnablePhysics,
-    GetBodyBoundingBox,
-    GetBodyCenterOfMass,
-    GetBodyInertia,
-    GetBodyMass,
-    GetBodyVelocity,
-    GetDistanceBetweenBodies,
-    GetRigidBody,
-    GetRigidBodyResponse,
-    RigidBodyConfig,
-    SetBodyVelocity,
-)
-from common.session.views.viewport import (
-    SetActiveViewportCamera,
-    SetCameraView,
-)
-from common.session.views.xform import (
-    AddXForm,
-    GetXForm,
-    GetXFormResponse,
-    SetXformVisibility,
-)
-
-__all__ = [
-    # Articulation
-    "ArticulationConfig",
-    "ArticulationJointConfig",
-    "ArticulationJointConfigs",
-    "ArticulationJointStates",
-    "ArticulationJointTargets",
-    "BufferArticulationRead",
-    "BufferArticulationWrite",
-    "BufferArticulationWriteResponse",
-    "BufferedArticulationState",
-    "AddArticulation",
-    "GetArticulationJointConfigs",
-    "GetArticulationJointStates",
-    "GetArticulationJointTargets",
-    "GetBufferedArticulationRead",
-    "GetArticulation",
-    "GetArticulationResponse",
-    "SetArticulationJointConfigs",
-    "SetArticulationJointStates",
-    "SetArticulationJointTargets",
-    # Camera
-    "AddCamera",
-    "CameraConfig",
-    "CameraMode",
-    "DistortionModel",
-    "GetCamera",
-    "GetCameraFrame",
-    "GetCameraResponse",
-    # Collision
-    "GetMeshApproximation",
-    "GetMeshApproximationResponse",
-    "HasCollision",
-    "HasCollisionResponse",
-    "RemoveCollision",
-    "SetCollision",
-    # Geometry
-    "AddGeometry",
-    "GeometryConfig",
-    "GeometryType",
-    "GetGeometry",
-    "GetGeometryResponse",
-    "MeshApproximation",
-    # Ground Plane
-    "AddGroundPlane",
-    "GetGroundPlane",
-    "GetGroundPlaneResponse",
-    "GroundPlaneConfig",
-    # IMU
-    "AddImu",
-    "GetImu",
-    "GetImuResponse",
-    "GetImuSample",
-    "ImuConfig",
-    # Joint
-    "AddJoint",
-    "GetJoint",
-    "GetJointResponse",
-    "JointAxis",
-    "JointConfig",
-    "JointType",
-    # Light
-    "AddLight",
-    "DisableLight",
-    "EnableLight",
-    "GetLight",
-    "GetLightResponse",
-    "LightConfig",
-    "LightType",
-    "SetLightColor",
-    "SetLightIntensity",
-    # PIR Sensor
-    "AddPirSensor",
-    "GetPirDetectionStatus",
-    "GetPirSensor",
-    "GetPirSensorResponse",
-    "PirSensorConfig",
-    "PirStatus",
-    "SetPirDebugMode",
-    "SetPirMaterial",
-    # Radar
-    "AddRadar",
-    "BufferRadarRead",
-    "GetBufferedRadarRead",
-    "GetRadar",
-    "GetRadarResponse",
-    "GetRadarScan",
-    "RadarConfig",
-    # Rigid Body
-    "AddRigidBody",
-    "ApplyForce",
-    "ApplyForceAtPosition",
-    "ApplyTorque",
-    "BodyCenterOfMass",
-    "BodyDistance",
-    "BodyInertia",
-    "BodyMass",
-    "BodyType",
-    "BodyVelocity",
-    "BoundingBox",
-    "DisableGravity",
-    "DisablePhysics",
-    "EnableGravity",
-    "EnablePhysics",
-    "GetBodyBoundingBox",
-    "GetBodyCenterOfMass",
-    "GetBodyInertia",
-    "GetBodyMass",
-    "GetBodyVelocity",
-    "GetDistanceBetweenBodies",
-    "GetRigidBody",
-    "GetRigidBodyResponse",
-    "RigidBodyConfig",
-    "SetBodyVelocity",
-    # Viewport
-    "SetActiveViewportCamera",
-    "SetCameraView",
-    # XForm
-    "AddXForm",
-    "GetXForm",
-    "GetXFormResponse",
-    "SetXformVisibility",
-    # Basis Curve
-    "AddBasisCurveSemiCircle",
-    "GetBasisCurve",
-    "GetBasisCurveResponse",
-    "GetBasisCurveExtents",
-    "GetBasisCurveExtentsResponse",
-    "SetBasisCurveVisibility",
-    "GetBasisCurvePoints",
-    "GetBasisCurvePointsResponse",
-    "RemoveBasisCurve",
-    # Animation
-    "AddAnimationFromWaypoints",
-    "AddAnimationFromBasisCurve",
-    "UpdateAnimationWaypoints",
-    "UpdateAnimationBasisCurve",
-    "GetAnimation",
-    "GetAnimationResponse",
-    "RemoveAnimation",
-]

common/session/views/animation.py

@@ -1,73 +0,0 @@
-from typing import Literal
-
-from pydantic import Field
-
-from common.message import Message, Vector3
-
-
-class AddAnimationFromWaypoints(Message):
-    """
-    Add an animation to the scene using waypoints.
-    """
-
-    path: str = Field(description="USD path for the animation")
-    waypoints: list[Vector3] = Field(description="List of waypoints")
-    loop: bool = Field(default=True, description="Whether to loop the animation")
-
-
-class AddAnimationFromBasisCurve(Message):
-    """
-    Add an animation to the scene using a basis curve.
-    """
-
-    path: str = Field(description="USD path for the animation")
-    basis_curve: str = Field(description="Path to the basis curve to use for the animation")
-    samples_per_segment: int = Field(default=10, description="The number of samples per segment to use from the basis curve")
-    sort_by: Literal["X", "Y", "Z"] | None = Field(default=None, description="The axis to sort the points by")
-    ascending: bool = Field(default=True, description="Whether to sort the points in ascending order")
-
-
-class UpdateAnimationWaypoints(Message):
-    """
-    Update the animation waypoints.
-    """
-
-    path: str = Field(description="USD path for the animation")
-    waypoints: list[Vector3] = Field(description="List of waypoints")
-    loop: bool = Field(default=True, description="Whether to loop the animation")
-
-
-class UpdateAnimationBasisCurve(Message):
-    """
-    Update the animation using a basis curve.
-    """
-
-    path: str = Field(description="USD path for the animation")
-    basis_curve: str = Field(description="Path to the basis curve to use for the animation")
-    samples_per_segment: int = Field(default=10, description="The number of samples per segment to use from the basis curve")
-    sort_by: Literal["X", "Y", "Z"] | None = Field(default=None, description="The axis to sort the points by")
-    ascending: bool = Field(default=True, description="Whether to sort the points in ascending order")
-
-
-class GetAnimation(Message):
-    """
-    Get an existing animation view from a prim.
-    """
-
-    path: str = Field(description="USD path for the animation")
-
-
-class GetAnimationResponse(Message):
-    """
-    Response from getting an animation view.
-    """
-
-    path: str
-
-
-class RemoveAnimation(Message):
-    """
-    Remove an animation from the scene (deletes the prim).
-    """
-
-    path: str = Field(description="USD path for the animation")

common/session/views/articulation.py

@@ -1,184 +0,0 @@
-from pydantic import Field
-
-from common.message import JointState, JointTarget, Message, Pose, Vector3
-
-
-class ArticulationJointConfig(Message):
-    """
-    Complete configuration for a single joint in an articulation.
-    """
-
-    path: str = Field(description="Name of the joint/DOF")
-    stiffness: float | None = Field(default=None, description="PD controller stiffness (Kp)")
-    damping: float | None = Field(default=None, description="PD controller damping (Kd)")
-    lower_limit: float | None = Field(default=None, description="Lower joint limit")
-    upper_limit: float | None = Field(default=None, description="Upper joint limit")
-    armature: float | None = Field(default=None, description="Joint armature")
-    friction_coefficient: float | None = Field(default=None, description="Joint friction coefficient")
-    max_velocity: float | None = Field(default=None, description="Maximum joint velocity")
-    max_effort: float | None = Field(default=None, description="Maximum joint effort")
-
-
-class ArticulationConfig(Message):
-    """
-    Configuration for applying articulation root to a prim.
-    """
-
-    solver_position_iterations: int = Field(default=32, description="Number of position iterations for the solver")
-    solver_velocity_iterations: int = Field(default=1, description="Number of velocity iterations for the solver")
-    sleep_threshold: float = Field(default=0.005, description="Sleep threshold for the articulation")
-    stabilization_threshold: float = Field(default=0.001, description="Stabilization threshold for the articulation")
-    enable_self_collisions: bool = Field(default=False, description="Whether to enable self-collisions")
-    joint_configs: list[ArticulationJointConfig] = Field(default_factory=list, description="Per-joint configurations")
-
-
-class GetArticulation(Message):
-    """
-    Get an existing articulation view from a prim with ArticulationRootAPI already applied.
-    """
-
-    path: str | None = Field(default=None, description="USD path of the articulation prim")
-
-
-class GetArticulationResponse(Message):
-    """
-    Response from getting an articulation.
-    """
-
-    path: str
-
-
-class AddArticulation(Message):
-    """
-    Add an articulation by applying ArticulationRootAPI to a prim.
-    """
-
-    path: str = Field(description="USD path of prim to apply articulation to")
-    config: ArticulationConfig
-    world_pose: Pose | None = Field(default=None, description="World pose (position and orientation)")
-    local_pose: Pose | None = Field(default=None, description="Local pose (translation and orientation)")
-    scale: Vector3 | None = Field(default=None, description="Scale (x, y, z)")
-
-
-class ArticulationJointStates(Message):
-    """
-    Response containing joint states.
-    """
-
-    joint_states: list[JointState]
-
-
-class ArticulationJointTargets(Message):
-    """
-    Response containing joint targets.
-    """
-
-    joint_targets: list[JointTarget]
-
-
-class GetArticulationJointStates(Message):
-    """
-    Get articulation joint states.
-    """
-
-    path: str
-    joint_names: list[str] | None = None
-
-
-class GetArticulationJointTargets(Message):
-    """
-    Get articulation control targets.
-    """
-
-    path: str
-    joint_names: list[str] | None = None
-
-
-class SetArticulationJointStates(Message):
-    """
-    Set articulation joint states (immediate teleport).
-    """
-
-    path: str
-    joint_names: list[str] | None = None
-    joint_states: list[JointState] | None = None
-
-
-class SetArticulationJointTargets(Message):
-    """
-    Set articulation control targets using PD controller.
-    """
-
-    path: str
-    joint_names: list[str] | None = None
-    joint_targets: list[JointTarget] | None = None
-
-
-class GetArticulationJointConfigs(Message):
-    """
-    Get joint configurations for all joints.
-    """
-
-    path: str
-    joint_names: list[str] | None = None
-
-
-class ArticulationJointConfigs(Message):
-    """
-    Joint configurations response.
-    """
-
-    joint_configs: list[ArticulationJointConfig]
-
-
-class SetArticulationJointConfigs(Message):
-    """
-    Set joint configurations.
-    """
-
-    path: str
-    joint_configs: list[ArticulationJointConfig]
-
-
-class BufferArticulationRead(Message):
-    """
-    Request to buffer current articulation state at simulation time.
-    """
-
-    path: str
-
-
-class GetBufferedArticulationRead(Message):
-    """
-    Request to get buffered articulation state at or before simulation time.
-    """
-
-    path: str
-    read_sim_time: float
-
-
-class BufferedArticulationState(Message):
-    """
-    Buffered articulation state with joint names for filtering.
-    """
-
-    pose: Pose
-    joint_states: list[JointState]
-    joint_names: list[str]
-
-
-class BufferArticulationWrite(Message):
-    """
-    Request to buffer articulation write at target simulation time.
-    """
-
-    path: str
-    write_sim_time: float
-    joint_names: list[str] | None = None
-    joint_targets: list[JointTarget] | None = None
-
-
-class BufferArticulationWriteResponse(Message):
-    """
-    Acknowledgment for buffered articulation write.
-    """

common/session/views/basis_curve.py

@@ -1,102 +0,0 @@
-from typing import Literal
-
-from pydantic import Field
-
-from common.message import Message, Vector3
-
-
-class AddBasisCurveSemiCircle(Message):
-    """
-    Add a basis curve semi-circle to the scene.
-    """
-
-    path: str = Field(description="USD path for the basis curve")
-    center: Vector3 = Field(default_factory=Vector3.zeros, description="Center of the basis curve")
-    radius: float = Field(default=1.0, description="Radius of the basis curve")
-    min_angle_deg: float = Field(default=0.0, description="Minimum angle of the basis curve in degrees")
-    max_angle_deg: float = Field(default=180.0, description="Maximum angle of the basis curve in degrees")
-
-
-class AddBasisCurveLine(Message):
-    """
-    Add a basis curve line to the scene.
-
-    Supports two modes:
-    - Cartesian: Specify start and end points directly
-    - Polar: Specify start point, angle (degrees), and length
-    """
-
-    path: str = Field(description="USD path for the basis curve")
-    start: Vector3 = Field(description="Start point of the line")
-    end: Vector3 | None = Field(default=None, description="End point of the line (Cartesian mode)")
-    angle_deg: float | None = Field(default=None, description="Angle in degrees from +X axis in XY plane (polar mode)")
-    length: float | None = Field(default=None, description="Length of the line (polar mode)")
-
-
-class GetBasisCurve(Message):
-    """
-    Get an existing basis curve view from a prim.
-    """
-
-    path: str = Field(description="USD path for the basis curve")
-
-
-class GetBasisCurveResponse(Message):
-    """
-    Response from getting a basis curve.
-    """
-
-    path: str
-
-
-class GetBasisCurveExtents(Message):
-    """
-    Get the extents of a basis curve.
-    """
-
-    path: str = Field(description="USD path for the basis curve")
-
-
-class GetBasisCurveExtentsResponse(Message):
-    """
-    Response from getting the extents of a basis curve.
-    """
-
-    start: Vector3 = Field(description="Start point of the basis curve")
-    end: Vector3 = Field(description="End point of the basis curve")
-
-
-class GetBasisCurvePoints(Message):
-    """
-    Get the points of a basis curve.
-    """
-
-    path: str = Field(description="USD path for the basis curve")
-    samples_per_segment: int = Field(default=10, description="The number of samples per segment")
-    sort_by: Literal["X", "Y", "Z"] | None = Field(default=None, description="The axis to sort the points by")
-    ascending: bool = Field(default=True, description="Whether to sort the points in ascending order")
-
-
-class GetBasisCurvePointsResponse(Message):
-    """
-    Response from getting the points of a basis curve.
-    """
-
-    points: list[Vector3] = Field(description="The points of the basis curve")
-
-
-class SetBasisCurveVisibility(Message):
-    """
-    Set the visibility of a basis curve.
-    """
-
-    path: str = Field(description="USD path for the basis curve")
-    visible: bool = Field(description="True to make visible, False to hide")
-
-
-class RemoveBasisCurve(Message):
-    """
-    Remove a basis curve from the scene.
-    """
-
-    path: str = Field(description="USD path for the basis curve")