antioch-py 2.0.6__py3-none-any.whl

common/session/views/joint.py

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+from enum import Enum
+
+from pydantic import Field
+
+from common.message import Message, Pose
+
+
+class JointType(str, Enum):
+    """
+    Types of joints supported by the simulator.
+    """
+
+    REVOLUTE = "revolute"
+    PRISMATIC = "prismatic"
+    FIXED = "fixed"
+    SPHERICAL = "spherical"
+    DISTANCE = "distance"
+    GENERIC = "generic"
+
+
+class JointAxis(str, Enum):
+    """
+    Axis of motion for joints.
+    """
+
+    X = "x"
+    Y = "y"
+    Z = "z"
+
+
+class JointConfig(Message):
+    """
+    Configuration for a joint object that connects two bodies.
+    """
+
+    # Joint relationships
+    parent_path: str = Field(description="USD path to parent body")
+    child_path: str = Field(description="USD path to child body")
+
+    # Transform
+    pose: Pose = Field(default_factory=Pose.identity, description="Joint pose relative to parent")
+
+    # Joint properties
+    joint_type: JointType = Field(default=JointType.FIXED, description="Type of joint motion allowed")
+    axis: JointAxis = Field(default=JointAxis.X, description="Axis of motion for non-fixed joints")
+
+    # Motion limits (for revolute: degrees, for prismatic: meters)
+    lower_limit: float | None = Field(default=None, description="Lower motion limit")
+    upper_limit: float | None = Field(default=None, description="Upper motion limit")
+
+    # Physics properties
+    friction: float = Field(default=0.01, description="Joint friction (unitless)")
+    armature: float = Field(default=0.1, description="Joint armature (kg for prismatic, kg-m^2 for revolute)")
+
+    # Special properties
+    exclude_from_articulation: bool = Field(default=False, description="Whether to exclude this joint from articulation")
+
+
+class GetJoint(Message):
+    """
+    Get an existing joint.
+    """
+
+    path: str | None = Field(default=None, description="USD path of the joint prim")
+
+
+class GetJointResponse(Message):
+    """
+    Response from getting a joint.
+    """
+
+    path: str
+
+
+class AddJoint(Message):
+    """
+    Add a joint connecting two bodies.
+    """
+
+    path: str = Field(description="USD path for the joint")
+    config: JointConfig

common/session/views/light.py

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+from enum import Enum
+
+from pydantic import Field
+
+from common.message import Message, Pose, Vector3
+
+
+class LightType(str, Enum):
+    """
+    Supported light types.
+    """
+
+    SPHERE = "sphere"
+    RECT = "rect"
+    DISK = "disk"
+    CYLINDER = "cylinder"
+    DISTANT = "distant"
+    DOME = "dome"
+
+
+class LightConfig(Message):
+    """
+    Configuration for creating a light.
+    """
+
+    light_type: LightType = Field(default=LightType.SPHERE, description="Light type")
+    intensity: float = Field(default=30000.0, description="Light intensity")
+    exposure: float = Field(default=10.0, description="Light exposure")
+    color: Vector3 = Field(default_factory=Vector3.ones, description="RGB color (0-1)")
+    radius: float = Field(default=0.1, description="Radius for sphere lights (meters)")
+    width: float | None = Field(default=None, description="Width for rect lights (meters)")
+    height: float | None = Field(default=None, description="Height for rect/cylinder lights (meters)")
+    length: float | None = Field(default=None, description="Length for cylinder lights (meters)")
+    angle: float | None = Field(default=None, description="Angle for distant lights (degrees)")
+    texture_file: str | None = Field(default=None, description="Texture file for dome lights")
+
+
+class GetLight(Message):
+    """
+    Get an existing light source.
+    """
+
+    path: str | None = Field(default=None, description="USD path of the light prim")
+
+
+class GetLightResponse(Message):
+    """
+    Response from getting a light.
+    """
+
+    path: str
+
+
+class AddLight(Message):
+    """
+    Add a light source.
+    """
+
+    path: str = Field(description="USD path for the light")
+    config: LightConfig
+    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 SetLightIntensity(Message):
+    """
+    Set light intensity.
+    """
+
+    path: str
+    intensity: float
+
+
+class SetLightColor(Message):
+    """
+    Set light color.
+    """
+
+    path: str
+    color: Vector3
+
+
+class EnableLight(Message):
+    """
+    Enable light.
+    """
+
+    path: str
+
+
+class DisableLight(Message):
+    """
+    Disable light.
+    """
+
+    path: str

common/session/views/pir_sensor.py

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+from pydantic import Field
+
+from common.message import Message, Pose
+
+
+class PirSensorConfig(Message):
+    """
+    Configuration for PIR (Passive Infrared) motion sensor.
+
+    PIR sensors detect infrared radiation changes caused by moving warm objects.
+    The sensor uses a dual-element design with interleaved zones for motion detection.
+    """
+
+    # Core sensor parameters
+    update_rate_hz: float = Field(default=60.0, description="Sensor update frequency in Hz")
+    max_range: float = Field(default=12.0, description="Maximum detection range in meters")
+
+    # Field of view
+    horiz_fov_deg: float = Field(default=90.0, description="Horizontal field of view in degrees")
+    vert_fov_deg: float = Field(default=60.0, description="Vertical field of view in degrees")
+
+    # Ray configuration
+    rays_per_h: int = Field(default=128, description="Number of rays in horizontal direction")
+    rays_per_v: int = Field(default=16, description="Number of rays in vertical direction")
+
+    # DSP / electronics parameters
+    gain: float = Field(default=0.01, description="Amplifier gain")
+    hp_corner_hz: float = Field(default=0.1, description="High-pass filter corner frequency in Hz")
+    lp_corner_hz: float = Field(default=1.0, description="Low-pass filter corner frequency in Hz")
+
+    hold_time_s: float = Field(default=2.0, description="Detection hold time in seconds")
+
+    # Lens parameters
+    lens_transmission: float = Field(default=0.9, description="Lens transmission coefficient (0-1)")
+    lens_segments_h: int = Field(default=6, description="Number of horizontal lens segments (facets)")
+    vertical_gain_falloff: float = Field(default=0.5, description="Exponent for elevation-based gain reduction (0=uniform)")
+
+    # Element vignetting parameters (models window blocking effect)
+    element_fov_overlap_deg: float = Field(default=20.0, description="Half-angle of center region where both elements see well (degrees)")
+    element_scatter_gain: float = Field(default=0.1, description="Minimum gain for blocked element due to scatter/reflections (0-1)")
+    element_fov_transition_deg: float = Field(default=15.0, description="Width of soft transition from full gain to scatter gain (degrees)")
+
+    # Environment parameters
+    ambient_temp_c: float = Field(default=20.0, description="Ambient temperature in Celsius")
+
+    # Hard-coded theshold (if not none) overrides auto-calibration
+    threshold: float | None = Field(default=None, description="Detection threshold (auto-calibrated if None)")
+    threshold_scale: float = Field(default=1.0, description="Scale factor applied to auto-calibrated threshold")
+
+    # Pyroelectric element parameters
+    thermal_time_constant_s: float = Field(default=0.2, description="Element thermal time constant in seconds")
+    pyro_responsivity: float = Field(default=1.0, description="Pyroelectric responsivity scaling factor")
+    noise_amplitude: float = Field(default=0.0, description="Thermal/electronic noise amplitude")
+
+    # Auto-threshold calibration parameters
+    target_delta_t: float = Field(default=10.0, description="Target temperature difference for threshold calibration in Celsius")
+    target_distance: float = Field(default=5.0, description="Target distance for threshold calibration in meters")
+    target_emissivity: float = Field(default=0.98, description="Target emissivity for threshold calibration")
+    target_velocity_mps: float = Field(default=1.0, description="Target velocity for threshold calibration in m/s")
+
+
+class GetPirSensor(Message):
+    """
+    Get an existing PIR sensor.
+    """
+
+    path: str | None = Field(default=None, description="USD path of the PIR sensor prim")
+
+
+class GetPirSensorResponse(Message):
+    """
+    Response from getting a PIR sensor.
+    """
+
+    path: str
+
+
+class AddPirSensor(Message):
+    """
+    Add a PIR sensor.
+    """
+
+    path: str = Field(description="USD path for the PIR sensor")
+    config: PirSensorConfig = Field(default_factory=PirSensorConfig)
+    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 GetPirDetectionStatus(Message):
+    """
+    Get PIR sensor detection status.
+    """
+
+    path: str
+
+
+class SetPirDebugMode(Message):
+    """
+    Enable or disable debug visualization for a PIR sensor.
+    """
+
+    path: str
+    enabled: bool = Field(description="Whether to enable debug ray visualization")
+
+
+class SetPirMaterial(Message):
+    """
+    Set PIR-specific thermal properties on a prim.
+
+    These properties define how the prim appears to PIR sensors.
+    """
+
+    path: str = Field(description="USD path of the prim to configure")
+    emissivity: float = Field(default=0.9, description="Material emissivity (0-1)")
+    temperature_c: float | None = Field(default=None, description="Surface temperature in Celsius")

common/session/views/radar.py

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+from pydantic import Field
+
+from common.message import Message, Pose
+
+
+class RadarConfig(Message):
+    """
+    Configuration for RTX radar sensor.
+
+    All parameters can be customized with sensible defaults provided.
+    """
+
+    # Core sensor parameters
+    frequency: int = Field(default=10, description="Sensor update frequency in Hz")
+
+    # Field of view (degrees from center, so total FOV is 2x these values)
+    max_azimuth: float = Field(default=66.0, description="Maximum azimuth angle in degrees (±FOV from center)")
+    max_elevation: float = Field(default=20.0, description="Maximum elevation angle in degrees (±FOV from center)")
+
+    # Range parameters
+    max_range: float = Field(default=200.0, description="Maximum detection range in meters")
+    range_resolution: float = Field(default=0.4, description="Range resolution in meters")
+
+    # Angular resolution at boresight (center of FOV)
+    azimuth_resolution: float = Field(default=1.3, description="Azimuth resolution at boresight in degrees")
+    elevation_resolution: float = Field(default=5.0, description="Elevation resolution at boresight in degrees")
+
+    # Noise parameters (standard deviation for Gaussian noise)
+    azimuth_noise: float = Field(default=0.0, description="Azimuth measurement noise standard deviation in radians")
+    range_noise: float = Field(default=0.0, description="Range measurement noise standard deviation in meters")
+
+
+class GetRadar(Message):
+    """
+    Get an existing radar sensor.
+    """
+
+    path: str | None = Field(default=None, description="USD path of the radar prim")
+
+
+class GetRadarResponse(Message):
+    """
+    Response from getting a radar.
+    """
+
+    path: str
+
+
+class AddRadar(Message):
+    """
+    Add a radar sensor.
+    """
+
+    path: str = Field(description="USD path for the radar")
+    config: RadarConfig
+    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 GetRadarScan(Message):
+    """
+    Get radar scan data.
+    """
+
+    path: str
+
+
+class BufferRadarRead(Message):
+    """
+    Request to buffer current radar scan at simulation time.
+    """
+
+    path: str
+
+
+class GetBufferedRadarRead(Message):
+    """
+    Request to get buffered radar scan at or before simulation time.
+    """
+
+    path: str
+    read_sim_time: float

common/session/views/rigid_body.py

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+from enum import Enum
+
+from pydantic import Field
+
+from common.message import Message, Pose, Vector3
+
+
+class BodyType(str, Enum):
+    """
+    Type of rigid body.
+    """
+
+    DYNAMIC = "dynamic"
+    KINEMATIC = "kinematic"
+
+
+class RigidBodyConfig(Message):
+    """
+    Configuration for rigid body physics properties.
+
+    Note: Collision properties (friction, restitution, mesh approximation) are configured
+    on the geometry, not the rigid body.
+    """
+
+    body_type: BodyType = Field(default=BodyType.DYNAMIC, description="Type of rigid body")
+    mass: float = Field(default=1.0, description="Mass in kg")
+    density: float | None = Field(default=None, description="Density in kg/m³ (alternative to mass)")
+    center_of_mass: Vector3 | None = Field(default=None, description="Center of mass offset in body frame")
+    diagonal_inertia: Vector3 | None = Field(default=None, description="Diagonal inertia values (Ixx, Iyy, Izz)")
+    principal_axes: Vector3 | None = Field(default=None, description="Principal axes orientation as RPY")
+    sleep_threshold: float | None = Field(default=None, description="Mass-normalized kinetic energy threshold for sleeping")
+    linear_velocity: Vector3 | None = Field(default=None, description="Initial linear velocity")
+    angular_velocity: Vector3 | None = Field(default=None, description="Initial angular velocity")
+
+
+class GetRigidBody(Message):
+    """
+    Get an existing rigid body view from a prim with RigidBodyAPI already applied.
+    """
+
+    path: str | None = Field(default=None, description="USD path of the rigid body prim")
+
+
+class GetRigidBodyResponse(Message):
+    """
+    Response from getting a rigid body.
+    """
+
+    path: str
+
+
+class AddRigidBody(Message):
+    """
+    Add or apply rigid body physics to a prim.
+
+    Note: The prim should already exist (e.g., added as geometry first).
+    Collision properties are configured on the geometry, not here.
+    """
+
+    path: str = Field(description="USD path of prim to apply physics to")
+    config: RigidBodyConfig
+    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 BodyVelocity(Message):
+    """
+    Body velocity.
+    """
+
+    linear: Vector3
+    angular: Vector3
+
+
+class GetBodyVelocity(Message):
+    """
+    Get body velocity.
+    """
+
+    path: str
+
+
+class SetBodyVelocity(Message):
+    """
+    Set body velocity.
+    """
+
+    path: str
+    velocity: BodyVelocity
+
+
+class BoundingBox(Message):
+    """
+    Axis-aligned bounding box.
+    """
+
+    min: Vector3
+    max: Vector3
+
+
+class GetBodyBoundingBox(Message):
+    """
+    Get body bounding box.
+    """
+
+    path: str
+
+
+class ApplyForce(Message):
+    """
+    Apply force to body.
+    """
+
+    path: str
+    force: Vector3
+    is_global: bool = True
+
+
+class ApplyTorque(Message):
+    """
+    Apply torque to body.
+    """
+
+    path: str
+    torque: Vector3
+    is_global: bool = True
+
+
+class ApplyForceAtPosition(Message):
+    """
+    Apply force at a specific position on the body.
+    """
+
+    path: str
+    force: Vector3
+    position: Vector3
+    is_global: bool = True
+
+
+class BodyDistance(Message):
+    """
+    Distance between two bodies.
+    """
+
+    distance: float
+
+
+class GetDistanceBetweenBodies(Message):
+    """
+    Get distance between bodies.
+    """
+
+    path1: str
+    path2: str
+
+
+class GetBodyMass(Message):
+    """
+    Get body mass.
+    """
+
+    path: str
+
+
+class BodyMass(Message):
+    """
+    Body mass.
+    """
+
+    mass: float
+
+
+class GetBodyInertia(Message):
+    """
+    Get body inertia tensor.
+    """
+
+    path: str
+
+
+class BodyInertia(Message):
+    """
+    Body inertia tensor (3x3 matrix as 9 values).
+    """
+
+    inertia: list[float]
+
+
+class GetBodyCenterOfMass(Message):
+    """
+    Get body center of mass.
+    """
+
+    path: str
+
+
+class BodyCenterOfMass(Message):
+    """
+    Body center of mass position and orientation.
+    """
+
+    position: Vector3
+    orientation: Vector3
+
+
+class EnableGravity(Message):
+    """
+    Enable gravity on rigid body.
+    """
+
+    path: str
+
+
+class DisableGravity(Message):
+    """
+    Disable gravity on rigid body.
+    """
+
+    path: str
+
+
+class EnablePhysics(Message):
+    """
+    Enable rigid body physics.
+    """
+
+    path: str
+
+
+class DisablePhysics(Message):
+    """
+    Disable rigid body physics.
+    """
+
+    path: str

common/session/views/viewport.py

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+from pydantic import Field
+
+from common.message import Message, Vector3
+
+
+class SetCameraView(Message):
+    """
+    Set the viewport camera view position and target.
+    """
+
+    eye: Vector3 = Field(description="Eye position (camera location) in world coordinates")
+    target: Vector3 = Field(description="Target position (look-at point) in world coordinates")
+    camera_prim_path: str | None = Field(default=None, description="Optional USD path to the camera prim to configure")
+
+
+class SetActiveViewportCamera(Message):
+    """
+    Set which camera is active in the viewport.
+    """
+
+    camera_prim_path: str = Field(description="USD path to the camera prim to make active")

common/session/views/xform.py

@@ -0,0 +1,39 @@
+from pydantic import Field
+
+from common.message import Message, Pose, Vector3
+
+
+class GetXForm(Message):
+    """
+    Get an existing XForm prim.
+    """
+
+    path: str | None = Field(default=None, description="USD path of the XForm prim")
+
+
+class GetXFormResponse(Message):
+    """
+    Response from getting an XForm.
+    """
+
+    path: str
+
+
+class AddXForm(Message):
+    """
+    Add an XForm prim with optional pose and scale.
+    """
+
+    path: str = Field(description="USD path for the XForm")
+    world_pose: Pose | None = Field(None, description="World pose to set on creation")
+    local_pose: Pose | None = Field(None, description="Local pose to set on creation")
+    scale: Vector3 | None = Field(None, description="Scale to set on creation")
+
+
+class SetXformVisibility(Message):
+    """
+    Set xform visibility.
+    """
+
+    path: str
+    visible: bool

common/utils/__init__.py

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+from common.message.log import LogLevel
+from common.utils.logger import Logger
+
+__all__ = ["Logger", "LogLevel"]