antioch-py 2.0.6__py3-none-any.whl → 3.0.12__py3-none-any.whl

antioch/session/views/radar.py

@@ -1,73 +0,0 @@
-from antioch.session.session import Session, SessionContainer
-from common.message import Pose, RadarScan
-from common.session.views.radar import AddRadar, GetRadar, GetRadarResponse, GetRadarScan, RadarConfig
-
-
-class Radar(SessionContainer):
-    """
-    Radar view for time-synchronized scan data.
-
-    Example:
-        scene = Scene()
-        radar = scene.get_radar(name="my_ark/my_module/my_radar")
-        scan = radar.get_scan()
-    """
-
-    def __init__(self, path: str):
-        """
-        Initialize Radar view.
-
-        :param path: USD path for the radar.
-        """
-
-        super().__init__()
-
-        self._path = self._session.query_sim_rpc(
-            endpoint="get_radar",
-            payload=GetRadar(path=path),
-            response_type=GetRadarResponse,
-        ).path
-
-    @classmethod
-    def add(
-        cls,
-        path: str,
-        config: RadarConfig,
-        world_pose: Pose | None,
-        local_pose: Pose | None,
-    ) -> "Radar":
-        """
-        Add radar to the scene.
-
-        :param path: USD path for the radar.
-        :param config: Radar configuration.
-        :param world_pose: Optional world pose.
-        :param local_pose: Optional local pose.
-        :return: The radar instance.
-        """
-
-        Session.get_current().query_sim_rpc(
-            endpoint="add_radar",
-            payload=AddRadar(
-                path=path,
-                config=config,
-                world_pose=world_pose,
-                local_pose=local_pose,
-            ),
-        )
-        return cls(path)
-
-    def get_scan(self) -> RadarScan | None:
-        """
-        Get radar scan data.
-
-        :return: Radar scan with detections, or None if scan data is not ready.
-        """
-
-        scan = self._session.query_sim_rpc(
-            endpoint="get_radar_scan",
-            payload=GetRadarScan(path=self._path),
-            response_type=RadarScan,
-        )
-
-        return scan

antioch/session/views/rigid_body.py

@@ -1,282 +0,0 @@
-from antioch.session.session import Session, SessionContainer
-from common.message import Pose, Vector3
-from common.session.sim import GetLocalPose, GetWorldPose, SetLocalPose, SetWorldPose
-from common.session.views.rigid_body import (
-    AddRigidBody,
-    ApplyForce,
-    BodyCenterOfMass,
-    BodyInertia,
-    BodyMass,
-    BodyVelocity,
-    DisableGravity,
-    DisablePhysics,
-    EnableGravity,
-    EnablePhysics,
-    GetBodyCenterOfMass,
-    GetBodyInertia,
-    GetBodyMass,
-    GetBodyVelocity,
-    GetRigidBody,
-    GetRigidBodyResponse,
-    RigidBodyConfig,
-    SetBodyVelocity,
-)
-
-
-class RigidBody(SessionContainer):
-    """
-    Ergonomic wrapper for rigid body operations.
-
-    Rigid bodies should be added using scene.add_rigid_body() or retrieved using scene.get_rigid_body().
-
-    Example:
-        scene = Scene()
-
-        # Add rigid body
-        body = scene.add_rigid_body(
-            path="/World/cube",
-            mass=1.0,
-            linear_velocity=[1.0, 0.0, 0.0]
-        )
-
-        # Set velocity with tuples/lists
-        body.set_velocity(
-            linear=(1.0, 0.0, 0.0),
-            angular=[0.0, 0.0, 1.0]
-        )
-        pose = body.get_world_pose()
-    """
-
-    def __init__(self, path: str):
-        """
-        Initialize rigid body by resolving path and validating existence.
-
-        :param path: USD path for the rigid body.
-        """
-
-        super().__init__()
-
-        # Validate path
-        self._path = self._session.query_sim_rpc(
-            endpoint="get_rigid_body",
-            payload=GetRigidBody(path=path),
-            response_type=GetRigidBodyResponse,
-        ).path
-
-    @classmethod
-    def add(
-        cls,
-        path: str,
-        config: RigidBodyConfig,
-        world_pose: Pose | None,
-        local_pose: Pose | None,
-        scale: Vector3 | None,
-    ) -> "RigidBody":
-        """
-        Add a rigid body to the scene.
-
-        :param path: USD path for the rigid body.
-        :param config: Rigid body configuration.
-        :param world_pose: Optional world pose.
-        :param local_pose: Optional local pose.
-        :param scale: Optional scale.
-        :return: The rigid body instance.
-        """
-
-        Session.get_current().query_sim_rpc(
-            endpoint="add_rigid_body",
-            payload=AddRigidBody(
-                path=path,
-                config=config,
-                world_pose=world_pose,
-                local_pose=local_pose,
-                scale=scale,
-            ),
-        )
-        return cls(path)
-
-    def get_velocity(self) -> BodyVelocity:
-        """
-        Get the velocity of the rigid body.
-
-        :return: Linear and angular velocities.
-        """
-
-        return self._session.query_sim_rpc(
-            endpoint="get_body_velocity",
-            payload=GetBodyVelocity(path=self._path),
-            response_type=BodyVelocity,
-        )
-
-    def set_velocity(
-        self,
-        linear: Vector3 | list[float] | tuple[float, float, float],
-        angular: Vector3 | list[float] | tuple[float, float, float],
-    ) -> None:
-        """
-        Set the velocity of the rigid body.
-
-        :param linear: Linear velocity as Vector3 (or list/tuple of 3 floats).
-        :param angular: Angular velocity as Vector3 (or list/tuple of 3 floats).
-        """
-
-        self._session.query_sim_rpc(
-            endpoint="set_body_velocity",
-            payload=SetBodyVelocity(
-                path=self._path,
-                velocity=BodyVelocity(
-                    linear=Vector3.from_any(linear),
-                    angular=Vector3.from_any(angular),
-                ),
-            ),
-        )
-
-    def apply_force(
-        self,
-        force: Vector3 | list[float] | tuple[float, float, float],
-        is_global: bool = True,
-    ) -> None:
-        """
-        Apply force to the rigid body.
-
-        :param force: Force vector as Vector3 (or list/tuple of 3 floats).
-        :param is_global: Whether force is in global frame.
-        """
-
-        self._session.query_sim_rpc(
-            endpoint="apply_force",
-            payload=ApplyForce(
-                path=self._path,
-                force=Vector3.from_any(force),
-                is_global=is_global,
-            ),
-        )
-
-    def get_mass(self) -> float:
-        """
-        Get the mass of the rigid body.
-
-        :return: Mass in kg.
-        """
-
-        return self._session.query_sim_rpc(
-            endpoint="get_body_mass",
-            payload=GetBodyMass(path=self._path),
-            response_type=BodyMass,
-        ).mass
-
-    def get_inertia(self) -> list[float]:
-        """
-        Get the inertia tensor of the rigid body.
-
-        :return: Inertia tensor as 9 values (3x3 matrix flattened).
-        """
-
-        return self._session.query_sim_rpc(
-            endpoint="get_body_inertia",
-            payload=GetBodyInertia(path=self._path),
-            response_type=BodyInertia,
-        ).inertia
-
-    def get_center_of_mass(self) -> BodyCenterOfMass:
-        """
-        Get the center of mass position and orientation.
-
-        :return: Center of mass position and orientation.
-        """
-
-        return self._session.query_sim_rpc(
-            endpoint="get_body_center_of_mass",
-            payload=GetBodyCenterOfMass(path=self._path),
-            response_type=BodyCenterOfMass,
-        )
-
-    def enable_gravity(self) -> None:
-        """
-        Enable gravity on the rigid body.
-        """
-
-        self._session.query_sim_rpc(
-            endpoint="enable_gravity",
-            payload=EnableGravity(path=self._path),
-        )
-
-    def disable_gravity(self) -> None:
-        """
-        Disable gravity on the rigid body.
-        """
-
-        self._session.query_sim_rpc(
-            endpoint="disable_gravity",
-            payload=DisableGravity(path=self._path),
-        )
-
-    def enable_physics(self) -> None:
-        """
-        Enable rigid body physics (make body dynamic).
-        """
-
-        self._session.query_sim_rpc(
-            endpoint="enable_physics",
-            payload=EnablePhysics(path=self._path),
-        )
-
-    def disable_physics(self) -> None:
-        """
-        Disable rigid body physics (make body kinematic).
-        """
-
-        self._session.query_sim_rpc(
-            endpoint="disable_physics",
-            payload=DisablePhysics(path=self._path),
-        )
-
-    def get_world_pose(self) -> Pose:
-        """
-        Get the world pose of the rigid body.
-
-        :return: World pose.
-        """
-
-        return self._session.query_sim_rpc(
-            endpoint="get_rigid_body_world_pose",
-            payload=GetWorldPose(path=self._path),
-            response_type=Pose,
-        )
-
-    def get_local_pose(self) -> Pose:
-        """
-        Get the local pose of the rigid body.
-
-        :return: Local pose.
-        """
-
-        return self._session.query_sim_rpc(
-            endpoint="get_rigid_body_local_pose",
-            payload=GetLocalPose(path=self._path),
-            response_type=Pose,
-        )
-
-    def set_world_pose(self, pose: Pose | dict) -> None:
-        """
-        Set the world pose of the rigid body.
-
-        :param pose: World pose as Pose (or dict with position/orientation lists).
-        """
-
-        self._session.query_sim_rpc(
-            endpoint="set_rigid_body_world_pose",
-            payload=SetWorldPose(path=self._path, pose=Pose.from_any(pose)),
-        )
-
-    def set_local_pose(self, pose: Pose | dict) -> None:
-        """
-        Set the local pose of the rigid body.
-
-        :param pose: Local pose as Pose (or dict with position/orientation lists).
-        """
-
-        self._session.query_sim_rpc(
-            endpoint="set_rigid_body_local_pose",
-            payload=SetLocalPose(path=self._path, pose=Pose.from_any(pose)),
-        )

antioch/session/views/xform.py

@@ -1,119 +0,0 @@
-from antioch.session.session import Session, SessionContainer
-from common.message import Pose, Vector3
-from common.session.sim import GetLocalPose, GetWorldPose, SetLocalPose, SetWorldPose
-from common.session.views.xform import AddXForm, GetXForm, GetXFormResponse
-
-
-class XForm(SessionContainer):
-    """
-    Ergonomic wrapper for xform operations.
-
-    XForms should be added using scene.add_xform() or retrieved using scene.get_xform().
-
-    Example:
-        scene = Scene()
-
-        # Add xform
-        xform = scene.add_xform(
-            path="/World/container",
-            world_pose={"position": [1.0, 2.0, 3.0], "orientation": [1.0, 0.0, 0.0, 0.0]},
-            scale=[2.0, 2.0, 2.0]
-        )
-
-        pose = xform.get_world_pose()
-    """
-
-    def __init__(self, path: str):
-        """
-        Initialize xform by resolving path and validating existence.
-
-        :param path: USD path for the xform.
-        """
-
-        super().__init__()
-
-        # Validate path
-        self._path = self._session.query_sim_rpc(
-            endpoint="get_xform",
-            payload=GetXForm(path=path),
-            response_type=GetXFormResponse,
-        ).path
-
-    @classmethod
-    def add(
-        cls,
-        path: str,
-        world_pose: Pose | None,
-        local_pose: Pose | None,
-        scale: Vector3 | None,
-    ) -> "XForm":
-        """
-        Add an xform to the scene.
-
-        :param path: USD path for the xform.
-        :param world_pose: Optional world pose.
-        :param local_pose: Optional local pose.
-        :param scale: Optional scale.
-        :return: The xform instance.
-        """
-
-        Session.get_current().query_sim_rpc(
-            endpoint="add_xform",
-            payload=AddXForm(
-                path=path,
-                world_pose=world_pose,
-                local_pose=local_pose,
-                scale=scale,
-            ),
-        )
-        return cls(path)
-
-    def get_world_pose(self) -> Pose:
-        """
-        Get the world pose of the xform.
-
-        :return: World pose.
-        """
-
-        return self._session.query_sim_rpc(
-            endpoint="get_xform_world_pose",
-            payload=GetWorldPose(path=self._path),
-            response_type=Pose,
-        )
-
-    def get_local_pose(self) -> Pose:
-        """
-        Get the local pose of the xform.
-
-        :return: Local pose.
-        """
-
-        return self._session.query_sim_rpc(
-            endpoint="get_xform_local_pose",
-            payload=GetLocalPose(path=self._path),
-            response_type=Pose,
-        )
-
-    def set_world_pose(self, pose: Pose | dict) -> None:
-        """
-        Set the world pose of the xform.
-
-        :param pose: World pose as Pose (or dict with position/orientation lists).
-        """
-
-        self._session.query_sim_rpc(
-            endpoint="set_xform_world_pose",
-            payload=SetWorldPose(path=self._path, pose=Pose.from_any(pose)),
-        )
-
-    def set_local_pose(self, pose: Pose | dict) -> None:
-        """
-        Set the local pose of the xform.
-
-        :param pose: Local pose as Pose (or dict with position/orientation lists).
-        """
-
-        self._session.query_sim_rpc(
-            endpoint="set_xform_local_pose",
-            payload=SetLocalPose(path=self._path, pose=Pose.from_any(pose)),
-        )

antioch_py-2.0.6.dist-info/RECORD

@@ -1,99 +0,0 @@
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antioch_py-2.0.6.dist-info/entry_points.txt

@@ -1,2 +0,0 @@
-[console_scripts]
-schedule_viz = scripts.schedule_viz:main