antioch-py 2.0.6__py3-none-any.whl

common/session/sim.py

@@ -0,0 +1,240 @@
+import time
+from enum import Enum
+from typing import Any
+
+from pydantic import Field
+
+from common.message import Message, Pose, Vector3
+
+
+class SimulationState(str, Enum):
+    """
+    Represents the current state of the simulation.
+    """
+
+    PLAYING = "playing"
+    PAUSED = "paused"
+    STOPPED = "stopped"
+
+
+class Step(Message):
+    """
+    Step the simulation forward by a specified amount of time in microseconds.
+    """
+
+    dt_us: int = 10000  # Default 10ms
+
+
+class SimulationInfo(Message):
+    """
+    Full simulation info.
+    """
+
+    state: SimulationState
+    sim_time_us: int | None
+
+
+class SimulationTime(Message):
+    """
+    Current simulation time in microseconds.
+    """
+
+    time_us: int
+
+
+class ToggleUi(Message):
+    """
+    Toggle the UI visibility.
+    """
+
+    show_ui: bool
+
+
+class GetObject(Message):
+    """
+    Get information about a specific object.
+    """
+
+    path: str
+
+
+class ObjectInfo(Message):
+    """
+    Information about a simulation object.
+    """
+
+    path: str
+    type: str
+    config: dict[str, Any]
+
+
+class AllObjectInfo(Message):
+    """
+    All objects in the scene.
+    """
+
+    objects: list[ObjectInfo]
+
+
+class GetWorldPose(Message):
+    """
+    Get the world pose of an object.
+    """
+
+    path: str = Field(description="USD path of the object")
+
+
+class GetLocalPose(Message):
+    """
+    Get the local pose of an object.
+    """
+
+    path: str = Field(description="USD path of the object")
+
+
+class SetWorldPose(Message):
+    """
+    Set the world pose of an object.
+    """
+
+    path: str = Field(description="USD path of the object")
+    pose: Pose
+
+
+class SetLocalPose(Message):
+    """
+    Set the local pose of an object.
+    """
+
+    path: str = Field(description="USD path of the object")
+    pose: Pose
+
+
+class RpcError(Message):
+    """
+    RPC error.
+    """
+
+    message: str
+    internal: bool = False
+    traceback: str | None = None
+
+
+class RpcCall(Message):
+    """
+    RPC call with optional payload.
+    """
+
+    ts: int = Field(default_factory=lambda: int(time.time_ns() // 1000))
+    payload: bytes | None = None
+
+
+class RpcResponse(Message):
+    """
+    RPC response with optional payload and error.
+    """
+
+    ts: int = Field(default_factory=lambda: int(time.time_ns() // 1000))
+    payload: bytes | None = None
+    error: RpcError | None = None
+
+
+class AddAsset(Message):
+    """
+    Add an asset to the simulation.
+    """
+
+    path: str = Field(description="USD path where asset will be added")
+    asset_file_path: str = Field(description="Path to asset file (USD, FBX, OBJ, etc.)")
+    asset_prim_path: str | None = Field(default=None, description="Full path to prim in the Usd file to reference")
+    remove_articulation: bool = Field(default=True, description="Whether to remove articulation APIs")
+    remove_rigid_body: bool = Field(default=False, description="Whether to remove rigid body APIs")
+    remove_sensors: bool = Field(default=False, description="Whether to remove sensor and graph prims")
+    world_pose: Pose | None = Field(default=None, description="Optional world pose")
+    local_pose: Pose | None = Field(default=None, description="Optional local pose")
+    scale: Vector3 | None = Field(default=None, description="Optional scale")
+
+
+class GetPrimAttribute(Message):
+    """
+    Get an attribute value from a prim.
+
+    Supports primitive and vector types (float, int, bool, string, Vec2/3/4, Quat).
+    """
+
+    path: str = Field(description="USD path to the prim")
+    attribute_name: str = Field(description="Name of the attribute to get")
+
+
+class SetPrimAttribute(Message):
+    """
+    Set an attribute value on a prim.
+
+    Supports primitive and vector types (float, int, bool, string, Vec2/3/4, Quat).
+    The attribute must already exist on the prim.
+    """
+
+    path: str = Field(description="USD path to the prim")
+    attribute_name: str = Field(description="Name of the attribute to set")
+    value: float | int | str | bool | list[float] = Field(description="Value to set (must match attribute type)")
+
+
+class PrimAttributeValue(Message):
+    """
+    Response containing an attribute value.
+    """
+
+    value: float | int | str | bool | list[float]
+
+
+class SceneTarget(str, Enum):
+    """
+    Enum representing the different types of prims that can be queried in the scene.
+    """
+
+    XFORM = "xform"
+    ARTICULATION = "articulation"
+    RIGID_BODY = "rigid_body"
+    JOINT = "joint"
+    LIGHT = "light"
+    GROUND_PLANE = "ground_plane"
+    GEOMETRY = "geometry"
+    CAMERA = "camera"
+    RADAR = "radar"
+    IMU = "imu"
+    ANIMATION = "animation"
+
+
+class PrimInfo(Message):
+    """
+    Information about a prim in the scene with its applicable view types.
+    """
+
+    path: str = Field(description="USD path to the prim")
+    targets: list[SceneTarget] = Field(description="List of applicable scene targets/view types for this prim")
+
+
+class QueryScene(Message):
+    """
+    Query the scene hierarchy for prims matching specific criteria.
+    """
+
+    root_path: str = Field(default="/World", description="Root path to start the query from")
+    target: SceneTarget | None = Field(default=None, description="Specific target type to filter for (None returns all)")
+
+
+class SceneQueryResponse(Message):
+    """
+    Response containing the results of a scene query.
+    """
+
+    prims: list[PrimInfo] = Field(description="List of matching prims with their applicable targets")
+
+
+class SetSimulationControls(Message):
+    """
+    Set simulation control parameters.
+    """
+
+    max_physics_dt_us: int | None = Field(default=None, description="Maximum physics timestep in microseconds")
+    render_interval_us: int | None = Field(default=None, description="Render interval in microseconds")

common/session/views/__init__.py

@@ -0,0 +1,263 @@
+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

@@ -0,0 +1,73 @@
+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")