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

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")

common/session/views/camera.py

@@ -1,147 +0,0 @@
-from enum import Enum
-
-from pydantic import Field
-
-from common.message import CameraInfo, Message, Pose
-
-
-class CameraMode(str, Enum):
-    """
-    Camera capture modes.
-    """
-
-    RGB = "rgb"
-    DEPTH = "depth"
-
-
-class DistortionModel(str, Enum):
-    """
-    Camera lens distortion model types.
-    """
-
-    PINHOLE = "pinhole"
-    OPENCV_PINHOLE = "opencv_pinhole"
-    OPENCV_FISHEYE = "opencv_fisheye"
-    FTHETA = "ftheta"
-    KANNALA_BRANDT_K3 = "kannala_brandt_k3"
-    RAD_TAN_THIN_PRISM = "rad_tan_thin_prism"
-
-
-class CameraConfig(Message):
-    """
-    Configuration for camera sensor.
-    """
-
-    mode: CameraMode = Field(default=CameraMode.RGB, description="Camera capture mode (RGB or depth)")
-    frequency: int = Field(default=30, description="Camera update frequency in Hz")
-    width: int = Field(default=640, description="Image width in pixels")
-    height: int = Field(default=480, description="Image height in pixels")
-    focal_length: float = Field(default=50.0, description="Focal length in mm")
-    sensor_width: float = Field(default=20.4, description="Physical sensor width in mm")
-    sensor_height: float = Field(default=15.3, description="Physical sensor height in mm")
-    near_clip: float = Field(default=0.1, description="Near clipping plane in meters")
-    far_clip: float = Field(default=1000.0, description="Far clipping plane in meters")
-    f_stop: float = Field(default=0.0, description="F-stop for depth of field")
-    focus_distance: float = Field(default=10.0, description="Focus distance in meters")
-    principal_point_x: float = Field(default=0.0, description="Principal point X offset in pixels")
-    principal_point_y: float = Field(default=0.0, description="Principal point Y offset in pixels")
-    distortion_model: DistortionModel = Field(default=DistortionModel.PINHOLE, description="Lens distortion model")
-    distortion_coefficients: list[float] | None = Field(default=None, description="Distortion coefficients")
-
-    def to_camera_info(self, frame_id: str = "camera_optical_frame") -> CameraInfo:
-        """
-        Convert camera configuration to CameraInfo with calculated intrinsics.
-
-        :param frame_id: The coordinate frame ID for the camera.
-        :return: CameraInfo with full intrinsics and distortion parameters.
-        """
-
-        # Convert mm to pixels for focal length
-        fx = self.width * self.focal_length / self.sensor_width
-        fy = self.height * self.focal_length / self.sensor_height
-
-        # Principal point (image center + offset)
-        cx = self.width / 2.0 + self.principal_point_x
-        cy = self.height / 2.0 + self.principal_point_y
-
-        return CameraInfo(
-            width=self.width,
-            height=self.height,
-            fx=fx,
-            fy=fy,
-            cx=cx,
-            cy=cy,
-            distortion_model=self.distortion_model.value,
-            distortion_coefficients=self.distortion_coefficients or [],
-            frame_id=frame_id,
-        )
-
-
-class GetCamera(Message):
-    """
-    Get an existing camera sensor.
-    """
-
-    path: str | None = Field(default=None, description="USD path of the camera prim")
-    resolution: tuple[int, int] | None = Field(default=None, description="Image resolution in pixels (width, height)")
-
-
-class GetCameraResponse(Message):
-    """
-    Response from getting a camera.
-    """
-
-    path: str
-
-
-class AddCamera(Message):
-    """
-    Add a camera sensor.
-    """
-
-    path: str = Field(description="USD path for the camera")
-    config: CameraConfig
-    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)")
-
-
-class GetCameraFrame(Message):
-    """
-    Get camera frame with image data.
-    """
-
-    path: str
-
-
-class BufferCameraRgbRead(Message):
-    """
-    Request to buffer current camera RGB frame at simulation time.
-    """
-
-    path: str
-
-
-class GetBufferedCameraRgbRead(Message):
-    """
-    Request to get buffered camera RGB frame at or before simulation time.
-    """
-
-    path: str
-    read_sim_time: float
-
-
-class BufferCameraDepthRead(Message):
-    """
-    Request to buffer current camera depth frame at simulation time.
-    """
-
-    path: str
-
-
-class GetBufferedCameraDepthRead(Message):
-    """
-    Request to get buffered camera depth frame at or before simulation time.
-    """
-
-    path: str
-    read_sim_time: float

common/session/views/collision.py

@@ -1,59 +0,0 @@
-from pydantic import Field
-
-from common.message import Message
-from common.session.views.geometry import MeshApproximation
-
-
-class SetCollision(Message):
-    """
-    Apply collision API to a prim, optionally with mesh approximation.
-    """
-
-    path: str = Field(description="USD path to the prim")
-    mesh_approximation: MeshApproximation | None = Field(
-        default=None,
-        description="Optional mesh approximation method for collision geometry",
-    )
-
-
-class RemoveCollision(Message):
-    """
-    Remove collision API from a prim.
-    """
-
-    path: str = Field(description="USD path to the prim")
-
-
-class HasCollision(Message):
-    """
-    Check if a prim has collision API applied.
-    """
-
-    path: str = Field(description="USD path to the prim")
-
-
-class HasCollisionResponse(Message):
-    """
-    Response for collision check.
-    """
-
-    has_collision: bool = Field(description="Whether the prim has collision API")
-
-
-class GetMeshApproximation(Message):
-    """
-    Get mesh collision approximation from a prim.
-    """
-
-    path: str = Field(description="USD path to the prim")
-
-
-class GetMeshApproximationResponse(Message):
-    """
-    Response for mesh approximation query.
-    """
-
-    approximation: MeshApproximation | None = Field(
-        default=None,
-        description="Mesh approximation method, or None if not set",
-    )

common/session/views/geometry.py

@@ -1,102 +0,0 @@
-from enum import Enum
-
-from pydantic import Field
-from pydantic.alias_generators import to_camel
-
-from common.message import Message, Pose, Vector3
-
-
-class GeometryType(str, Enum):
-    """
-    Supported geometry types.
-    """
-
-    SPHERE = "sphere"
-    CUBE = "cube"
-    CYLINDER = "cylinder"
-    CONE = "cone"
-    CAPSULE = "capsule"
-    MESH = "mesh"
-
-
-class MeshApproximation(str, Enum):
-    """
-    Collision mesh approximation type.
-
-    Values are stored in snake_case for consistency with Rust. Use to_usd()
-    to get the camelCase format required by USD/Isaac Sim.
-    """
-
-    NONE = "none"
-    CONVEX_HULL = "convex_hull"
-    CONVEX_DECOMPOSITION = "convex_decomposition"
-    BOUNDING_SPHERE = "bounding_sphere"
-    BOUNDING_CUBE = "bounding_cube"
-    MESH_SIMPLIFICATION = "mesh_simplification"
-    SDF = "sdf"
-    SPHERE_FILL = "sphere_fill"
-
-    def to_usd(self) -> str:
-        """
-        Convert to USD camelCase format.
-
-        :return: The USD camelCase format.
-        """
-
-        return to_camel(self.value)
-
-
-class GeometryConfig(Message):
-    """
-    Configuration for creating geometry.
-    """
-
-    geometry_type: GeometryType = Field(description="Geometry type")
-    radius: float | None = Field(default=None, description="Radius for sphere/cylinder/cone/capsule")
-    height: float | None = Field(default=None, description="Height for cylinder/cone/capsule")
-    size: float | None = Field(default=None, description="Size for cube (uniform)")
-    color: Vector3 | None = Field(default=None, description="RGB color (0-1)")
-    opacity: float = Field(default=1.0, description="Opacity (0=transparent, 1=opaque)")
-    enable_collision: bool = Field(default=True, description="Whether to enable collision on this geometry")
-    static_friction: float = Field(default=0.5, description="Static friction coefficient")
-    dynamic_friction: float = Field(default=0.5, description="Dynamic friction coefficient")
-    restitution: float = Field(default=0.2, description="Restitution (bounciness)")
-    mesh_file_path: str | None = Field(
-        default=None,
-        description="Path to mesh file (FBX, OBJ, glTF, STL, etc.) - required for MESH type",
-    )
-    mesh_approximation: MeshApproximation = Field(
-        default=MeshApproximation.CONVEX_DECOMPOSITION,
-        description="Mesh approximation method",
-    )
-    contact_offset: float | None = Field(default=None, description="Distance at which collision detection begins")
-    rest_offset: float | None = Field(default=None, description="Minimum separation distance between objects")
-    torsional_patch_radius: float | None = Field(default=None, description="Radius for torsional friction calculations")
-    min_torsional_patch_radius: float | None = Field(default=None, description="Minimum radius for torsional friction")
-
-
-class GetGeometry(Message):
-    """
-    Get an existing geometry view from a prim.
-    """
-
-    path: str | None = Field(default=None, description="USD path of the geometry prim")
-
-
-class GetGeometryResponse(Message):
-    """
-    Response from getting a geometry.
-    """
-
-    path: str
-
-
-class AddGeometry(Message):
-    """
-    Add a geometry prim with optional pose.
-    """
-
-    path: str = Field(description="USD path for the geometry")
-    config: GeometryConfig
-    world_pose: "Pose | None" = Field(default=None, description="Optional world pose")
-    local_pose: "Pose | None" = Field(default=None, description="Optional local pose")

common/session/views/ground_plane.py

@@ -1,41 +0,0 @@
-from pydantic import Field
-
-from common.message import Message, Vector3
-
-
-class GroundPlaneConfig(Message):
-    """
-    Configuration for creating a ground plane.
-    """
-
-    size: float = Field(default=5000.0, description="Size of the ground plane in meters")
-    z_position: float = Field(default=0.0, description="Z position of the ground plane")
-    color: Vector3 = Field(default=Vector3.new(0.5, 0.5, 0.5), description="RGB color (0-1)")
-    static_friction: float = Field(default=0.5, description="Static friction coefficient")
-    dynamic_friction: float = Field(default=0.5, description="Dynamic friction coefficient")
-    restitution: float = Field(default=0.0, description="Restitution (bounciness)")
-
-
-class GetGroundPlane(Message):
-    """
-    Get an existing ground plane.
-    """
-
-    path: str | None = Field(default=None, description="USD path of the ground plane prim")
-
-
-class GetGroundPlaneResponse(Message):
-    """
-    Response from getting a ground plane.
-    """
-
-    path: str
-
-
-class AddGroundPlane(Message):
-    """
-    Add a ground plane.
-    """
-
-    path: str = Field(description="USD path for the ground plane")
-    config: GroundPlaneConfig

common/session/views/imu.py

@@ -1,66 +0,0 @@
-from pydantic import Field
-
-from common.message import Message, Pose
-
-
-class ImuConfig(Message):
-    """
-    Configuration for IMU sensor.
-    """
-
-    frequency: int | None = Field(default=None, description="Sensor update frequency in Hz (optional, defaults to physics rate)")
-    linear_acceleration_filter_size: int = Field(default=10, description="Filter window size for linear acceleration")
-    angular_velocity_filter_size: int = Field(default=10, description="Filter window size for angular velocity")
-    orientation_filter_size: int = Field(default=10, description="Filter window size for orientation")
-
-
-class GetImu(Message):
-    """
-    Get an existing IMU sensor.
-    """
-
-    path: str | None = Field(default=None, description="USD path of the IMU prim")
-
-
-class GetImuResponse(Message):
-    """
-    Response from getting an IMU.
-    """
-
-    path: str
-
-
-class AddImu(Message):
-    """
-    Add an IMU sensor.
-    """
-
-    path: str = Field(description="USD path for the IMU")
-    config: ImuConfig
-    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)")
-
-
-class GetImuSample(Message):
-    """
-    Get IMU sensor sample.
-    """
-
-    path: str
-
-
-class BufferImuRead(Message):
-    """
-    Request to buffer current IMU data at simulation time.
-    """
-
-    path: str
-
-
-class GetBufferedImuRead(Message):
-    """
-    Request to get buffered IMU data at or before simulation time.
-    """
-
-    path: str
-    read_sim_time: float