antioch-py 2.0.6__tar.gz → 2.1.0__tar.gz

{antioch_py-2.0.6/antioch_py.egg-info → antioch_py-2.1.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: antioch-py
-Version: 2.0.6
+Version: 2.1.0
 Summary: The Antioch Python SDK
 Author-email: Antioch Robotics <support@antioch.dev>
 License-Expression: MIT

{antioch_py-2.0.6 → antioch_py-2.1.0}/antioch/session/__init__.py

@@ -13,10 +13,10 @@ from antioch.session.error import (
     SessionTaskError,
     SessionValidationError,
 )
+from antioch.session.objects import Articulation, BasisCurve, Camera, Geometry, GroundPlane, Imu, Joint, Light, Radar, RigidBody, XForm
 from antioch.session.scene import Scene
 from antioch.session.session import Session, SessionContainer
 from antioch.session.task import Task, TaskOutcome
-from antioch.session.views import Articulation, BasisCurve, Camera, Geometry, GroundPlane, Imu, Joint, Light, Radar, RigidBody, XForm
 from common.ark import (
     ArkInfo,
     ArkMetadata,
@@ -43,16 +43,20 @@ from common.core import (
     Organization,
 )
 from common.message import ImuSample, JointState, JointStates, JointTarget, JointTargets, Pose
+from common.session.config import (
+    ArticulationJointConfig,
+    BodyType,
+    CameraConfig,
+    DistortionModel,
+    GeometryType,
+    ImuConfig,
+    JointAxis,
+    JointType,
+    LightType,
+    MeshApproximation,
+    RadarConfig,
+)
 from common.session.sim import SimulationInfo, SimulationState, SimulationTime
-from common.session.views.articulation import ArticulationJointConfig
-from common.session.views.camera import CameraConfig, DistortionModel
-from common.session.views.geometry import GeometryType, MeshApproximation
-from common.session.views.imu import ImuConfig
-from common.session.views.joint import JointAxis, JointType
-from common.session.views.light import LightType
-from common.session.views.radar import RadarConfig
-from common.session.views.rigid_body import BodyType
-from common.session.views.viewport import SetActiveViewportCamera, SetCameraView
 
 __all__ = [
     # Core containers
@@ -69,7 +73,7 @@ __all__ = [
     "SessionContainer",
     "Task",
     "TaskOutcome",
-    # View containers
+    # Object containers
     "Articulation",
     "Camera",
     "Geometry",
@@ -81,8 +85,6 @@ __all__ = [
     "RigidBody",
     "XForm",
     "BasisCurve",
-    "SetActiveViewportCamera",
-    "SetCameraView",
     # Session client and errors
     "Session",
     "SessionError",

{antioch_py-2.0.6 → antioch_py-2.1.0}/antioch/session/ark.py

@@ -3,15 +3,15 @@ from typing import TYPE_CHECKING, cast
 
 from antioch.module.token import TokenType
 from antioch.session.error import SessionArkError, SessionAssetError
+from antioch.session.objects.articulation import Articulation
+from antioch.session.objects.camera import Camera
+from antioch.session.objects.imu import Imu
+from antioch.session.objects.pir_sensor import PirSensor
+from antioch.session.objects.radar import Radar
 from antioch.session.record import NodeOutputRecorder
 from antioch.session.session import SessionContainer
-from antioch.session.views.articulation import Articulation
-from antioch.session.views.camera import Camera
-from antioch.session.views.imu import Imu
-from antioch.session.views.pir_sensor import PirSensor
-from antioch.session.views.radar import Radar
 from common.ark import Ark as ArkDefinition, ArkReference, Environment, HardwareAccessMode
-from common.ark.hardware import ActuatorGroupHardware, CameraHardware, HardwareType, ImuHardware, PirHardware, RadarHardware
+from common.ark.hardware import ActuatorGroupHardware, HardwareType
 from common.ark.scheduler import NodeCompleteEvent, NodeStartEvent, OnlineScheduler
 from common.ark.sim import SimNodeComplete, SimNodeStart
 from common.core import (
@@ -453,35 +453,31 @@ class Ark(SessionContainer):
         self._radars: dict[tuple[str, str], Radar] = {}
         for hardware in self._ark_def.hardware:
             if hardware.type == HardwareType.CAMERA:
-                camera_hw = cast(CameraHardware, hardware.config)
-                self._cameras[(camera_hw.module, camera_hw.name)] = self._scene.add_camera(
-                    path=f"{self._base_path}{camera_hw.path}",
-                    config=camera_hw.config,
-                    local_pose=camera_hw.pose,
+                self._cameras[(hardware.module, hardware.name)] = self._scene.add_camera(
+                    path=f"{self._base_path}{hardware.path}",
+                    config=hardware.config,
+                    local_pose=hardware.pose,
                 )
 
             elif hardware.type == HardwareType.IMU:
-                imu_hw = cast(ImuHardware, hardware.config)
-                self._imus[(imu_hw.module, imu_hw.name)] = self._scene.add_imu(
-                    path=f"{self._base_path}{imu_hw.path}",
-                    config=imu_hw.config,
-                    local_pose=imu_hw.pose,
+                self._imus[(hardware.module, hardware.name)] = self._scene.add_imu(
+                    path=f"{self._base_path}{hardware.path}",
+                    config=hardware.config,
+                    local_pose=hardware.pose,
                 )
 
             elif hardware.type == HardwareType.PIR:
-                pir_hw = cast(PirHardware, hardware.config)
-                self._pirs[(pir_hw.module, pir_hw.name)] = self._scene.add_pir_sensor(
-                    path=f"{self._base_path}{pir_hw.path}",
-                    config=pir_hw.config,
-                    local_pose=pir_hw.pose,
+                self._pirs[(hardware.module, hardware.name)] = self._scene.add_pir_sensor(
+                    path=f"{self._base_path}{hardware.path}",
+                    config=hardware.config,
+                    local_pose=hardware.pose,
                 )
 
             elif hardware.type == HardwareType.RADAR:
-                radar_hw = cast(RadarHardware, hardware.config)
-                self._radars[(radar_hw.module, radar_hw.name)] = self._scene.add_radar(
-                    path=f"{self._base_path}{radar_hw.path}",
-                    config=radar_hw.config,
-                    local_pose=radar_hw.pose,
+                self._radars[(hardware.module, hardware.name)] = self._scene.add_radar(
+                    path=f"{self._base_path}{hardware.path}",
+                    config=hardware.config,
+                    local_pose=hardware.pose,
                 )
 
     def _load_ark_asset(self, world_pose: Pose | None = None, local_pose: Pose | None = None) -> None:

antioch_py-2.1.0/antioch/session/objects/__init__.py

@@ -0,0 +1,40 @@
+from antioch.session.objects.animation import Animation
+from antioch.session.objects.articulation import Articulation
+from antioch.session.objects.basis_curve import BasisCurve
+from antioch.session.objects.camera import Camera
+from antioch.session.objects.collision import (
+    get_mesh_approximation,
+    has_collision,
+    remove_collision,
+    set_collision,
+)
+from antioch.session.objects.geometry import Geometry
+from antioch.session.objects.ground_plane import GroundPlane
+from antioch.session.objects.imu import Imu
+from antioch.session.objects.joint import Joint
+from antioch.session.objects.light import Light
+from antioch.session.objects.pir_sensor import PirSensor, set_pir_material
+from antioch.session.objects.radar import Radar
+from antioch.session.objects.rigid_body import RigidBody
+from antioch.session.objects.xform import XForm
+
+__all__ = [
+    "Animation",
+    "Articulation",
+    "BasisCurve",
+    "Camera",
+    "Geometry",
+    "GroundPlane",
+    "Imu",
+    "Joint",
+    "Light",
+    "PirSensor",
+    "Radar",
+    "RigidBody",
+    "XForm",
+    "get_mesh_approximation",
+    "has_collision",
+    "remove_collision",
+    "set_collision",
+    "set_pir_material",
+]

{antioch_py-2.0.6/antioch/session/views → antioch_py-2.1.0/antioch/session/objects}/animation.py

@@ -2,13 +2,6 @@ from typing import Literal, overload
 
 from antioch.session.session import Session, SessionContainer
 from common.message import Vector3
-from common.session.views.animation import (
-    AddAnimationFromBasisCurve,
-    AddAnimationFromWaypoints,
-    RemoveAnimation,
-    UpdateAnimationBasisCurve,
-    UpdateAnimationWaypoints,
-)
 
 
 class Animation(SessionContainer):
@@ -41,13 +34,7 @@ class Animation(SessionContainer):
 
     @overload
     @classmethod
-    def add(
-        cls,
-        path: str,
-        *,
-        waypoints: list[Vector3],
-        loop: bool = True,
-    ) -> "Animation": ...
+    def add(cls, path: str, *, waypoints: list[Vector3], loop: bool = True) -> "Animation": ...
 
     @overload
     @classmethod
@@ -88,23 +75,19 @@ class Animation(SessionContainer):
 
         if waypoints is not None:
             Session.get_current().query_sim_rpc(
-                endpoint="add_animation_from_waypoints",
-                payload=AddAnimationFromWaypoints(
-                    path=path,
-                    waypoints=waypoints,
-                    loop=loop,
-                ),
+                endpoint="animation/add_from_waypoints",
+                payload={"path": path, "waypoints": waypoints, "loop": loop},
             )
         elif basis_curve is not None:
             Session.get_current().query_sim_rpc(
-                endpoint="add_animation_from_basis_curve",
-                payload=AddAnimationFromBasisCurve(
-                    path=path,
-                    basis_curve=basis_curve,
-                    samples_per_segment=samples_per_segment,
-                    sort_by=sort_by,
-                    ascending=ascending,
-                ),
+                endpoint="animation/add_from_basis_curve",
+                payload={
+                    "path": path,
+                    "basis_curve": basis_curve,
+                    "samples_per_segment": samples_per_segment,
+                    "sort_by": sort_by,
+                    "ascending": ascending,
+                },
             )
         else:
             raise ValueError("Must provide either waypoints or basis_curve")
@@ -112,12 +95,7 @@ class Animation(SessionContainer):
         return cls(path)
 
     @overload
-    def update(
-        self,
-        *,
-        waypoints: list[Vector3],
-        loop: bool = True,
-    ) -> "Animation": ...
+    def update(self, *, waypoints: list[Vector3], loop: bool = True) -> "Animation": ...
 
     @overload
     def update(
@@ -151,31 +129,29 @@ class Animation(SessionContainer):
         :raises ValueError: If both waypoints and basis curve are provided.
         :return: The animation instance.
         """
+
         if waypoints is not None and basis_curve is not None:
             raise ValueError("Must provide either waypoints or basis_curve")
 
         if waypoints is not None:
             Session.get_current().query_sim_rpc(
-                endpoint="update_animation_waypoints",
-                payload=UpdateAnimationWaypoints(
-                    path=self._path,
-                    waypoints=waypoints,
-                    loop=loop,
-                ),
+                endpoint="animation/update_waypoints",
+                payload={"path": self._path, "waypoints": waypoints, "loop": loop},
             )
         elif basis_curve is not None:
             Session.get_current().query_sim_rpc(
-                endpoint="update_animation_basis_curve",
-                payload=UpdateAnimationBasisCurve(
-                    path=self._path,
-                    basis_curve=basis_curve,
-                    samples_per_segment=samples_per_segment,
-                    sort_by=sort_by,
-                    ascending=ascending,
-                ),
+                endpoint="animation/update_basis_curve",
+                payload={
+                    "path": self._path,
+                    "basis_curve": basis_curve,
+                    "samples_per_segment": samples_per_segment,
+                    "sort_by": sort_by,
+                    "ascending": ascending,
+                },
             )
         else:
             raise ValueError("Must provide either waypoints or basis_curve")
+
         return self
 
     def remove(self) -> None:
@@ -183,7 +159,4 @@ class Animation(SessionContainer):
         Remove the animation from the scene (deletes the character).
         """
 
-        self._session.query_sim_rpc(
-            endpoint="remove_animation",
-            payload=RemoveAnimation(path=self._path),
-        )
+        self._session.query_sim_rpc(endpoint="animation/remove", payload={"path": self._path})

{antioch_py-2.0.6/antioch/session/views → antioch_py-2.1.0/antioch/session/objects}/articulation.py

@@ -1,22 +1,6 @@
 from antioch.session.session import Session, SessionContainer
 from common.message import JointState, JointTarget, Pose, Vector3
-from common.session.sim import GetLocalPose, GetWorldPose, SetLocalPose, SetWorldPose
-from common.session.views.articulation import (
-    AddArticulation,
-    ArticulationConfig,
-    ArticulationJointConfig,
-    ArticulationJointConfigs,
-    ArticulationJointStates,
-    ArticulationJointTargets,
-    GetArticulation,
-    GetArticulationJointConfigs,
-    GetArticulationJointStates,
-    GetArticulationJointTargets,
-    GetArticulationResponse,
-    SetArticulationJointConfigs,
-    SetArticulationJointStates,
-    SetArticulationJointTargets,
-)
+from common.session.config import ArticulationConfig, ArticulationJointConfig
 
 
 class Articulation(SessionContainer):
@@ -50,13 +34,8 @@ class Articulation(SessionContainer):
         """
 
         super().__init__()
-
-        # Validate path
-        self._path = self._session.query_sim_rpc(
-            endpoint="get_articulation",
-            payload=GetArticulation(path=path),
-            response_type=GetArticulationResponse,
-        ).path
+        self._session.query_sim_rpc(endpoint="articulation/get", payload={"path": path})
+        self._path = path
 
     @classmethod
     def add(
@@ -79,21 +58,12 @@ class Articulation(SessionContainer):
         """
 
         Session.get_current().query_sim_rpc(
-            endpoint="add_articulation",
-            payload=AddArticulation(
-                path=path,
-                config=config,
-                world_pose=world_pose,
-                local_pose=local_pose,
-                scale=scale,
-            ),
+            endpoint="articulation/add",
+            payload={"path": path, "config": config, "world_pose": world_pose, "local_pose": local_pose, "scale": scale},
         )
         return cls(path)
 
-    def get_joint_states(
-        self,
-        joint_names: list[str] | None = None,
-    ) -> list[JointState]:
+    def get_joint_states(self, joint_names: list[str] | None = None) -> list[JointState]:
         """
         Get current joint states.
 
@@ -102,12 +72,10 @@ class Articulation(SessionContainer):
         """
 
         response = self._session.query_sim_rpc(
-            endpoint="get_articulation_joint_states",
-            payload=GetArticulationJointStates(path=self._path, joint_names=joint_names),
-            response_type=ArticulationJointStates,
+            endpoint="articulation/get_joint_states",
+            payload={"path": self._path, "joint_names": joint_names},
         )
-
-        return response.joint_states if response else []
+        return [JointState.model_validate(js) for js in response] if response else []
 
     def get_joint_targets(self, joint_names: list[str] | None = None) -> list[JointTarget]:
         """
@@ -117,11 +85,11 @@ class Articulation(SessionContainer):
         :return: List of joint control targets.
         """
 
-        return self._session.query_sim_rpc(
-            endpoint="get_articulation_joint_targets",
-            payload=GetArticulationJointTargets(path=self._path, joint_names=joint_names),
-            response_type=ArticulationJointTargets,
-        ).joint_targets
+        response = self._session.query_sim_rpc(
+            endpoint="articulation/get_joint_targets",
+            payload={"path": self._path, "joint_names": joint_names},
+        )
+        return [JointTarget.model_validate(jt) for jt in response] if response else []
 
     def get_joint_configs(self, joint_names: list[str] | None = None) -> list[ArticulationJointConfig]:
         """
@@ -134,11 +102,11 @@ class Articulation(SessionContainer):
         :return: List of joint configurations (DOF joints only).
         """
 
-        return self._session.query_sim_rpc(
-            endpoint="get_articulation_joint_configs",
-            payload=GetArticulationJointConfigs(path=self._path, joint_names=joint_names),
-            response_type=ArticulationJointConfigs,
-        ).joint_configs
+        response = self._session.query_sim_rpc(
+            endpoint="articulation/get_joint_configs",
+            payload={"path": self._path, "joint_names": joint_names},
+        )
+        return [ArticulationJointConfig.model_validate(jc) for jc in response] if response else []
 
     def set_joint_configs(self, joint_configs: list[ArticulationJointConfig]) -> None:
         """
@@ -147,16 +115,9 @@ class Articulation(SessionContainer):
         :param joint_configs: List of joint configurations to apply.
         """
 
-        self._session.query_sim_rpc(
-            endpoint="set_articulation_joint_configs",
-            payload=SetArticulationJointConfigs(path=self._path, joint_configs=joint_configs),
-        )
+        self._session.query_sim_rpc(endpoint="articulation/set_joint_configs", payload={"path": self._path, "joint_configs": joint_configs})
 
-    def set_joint_states(
-        self,
-        joint_names: list[str] | None = None,
-        joint_states: list[JointState] | None = None,
-    ) -> None:
+    def set_joint_states(self, joint_names: list[str] | None = None, joint_states: list[JointState] | None = None) -> None:
         """
         Set the joint states of the articulation (immediate teleport).
 
@@ -165,19 +126,11 @@ class Articulation(SessionContainer):
         """
 
         self._session.query_sim_rpc(
-            endpoint="set_articulation_joint_states",
-            payload=SetArticulationJointStates(
-                path=self._path,
-                joint_names=joint_names,
-                joint_states=joint_states,
-            ),
+            endpoint="articulation/set_joint_states",
+            payload={"path": self._path, "joint_names": joint_names, "joint_states": joint_states},
         )
 
-    def set_joint_targets(
-        self,
-        joint_names: list[str] | None = None,
-        joint_targets: list[JointTarget] | None = None,
-    ) -> None:
+    def set_joint_targets(self, joint_names: list[str] | None = None, joint_targets: list[JointTarget] | None = None) -> None:
         """
         Set control targets for the articulation's PD controllers.
 
@@ -186,12 +139,8 @@ class Articulation(SessionContainer):
         """
 
         self._session.query_sim_rpc(
-            endpoint="set_articulation_joint_targets",
-            payload=SetArticulationJointTargets(
-                path=self._path,
-                joint_names=joint_names,
-                joint_targets=joint_targets,
-            ),
+            endpoint="articulation/set_joint_targets",
+            payload={"path": self._path, "joint_names": joint_names, "joint_targets": joint_targets},
         )
 
     def get_world_pose(self) -> Pose:
@@ -201,11 +150,7 @@ class Articulation(SessionContainer):
         :return: World pose.
         """
 
-        return self._session.query_sim_rpc(
-            endpoint="get_articulation_world_pose",
-            payload=GetWorldPose(path=self._path),
-            response_type=Pose,
-        )
+        return self._session.query_sim_rpc(endpoint="articulation/get_world_pose", payload={"path": self._path}, response_type=Pose)
 
     def get_local_pose(self) -> Pose:
         """
@@ -214,11 +159,7 @@ class Articulation(SessionContainer):
         :return: Local pose.
         """
 
-        return self._session.query_sim_rpc(
-            endpoint="get_articulation_local_pose",
-            payload=GetLocalPose(path=self._path),
-            response_type=Pose,
-        )
+        return self._session.query_sim_rpc(endpoint="articulation/get_local_pose", payload={"path": self._path}, response_type=Pose)
 
     def set_world_pose(self, pose: Pose | dict) -> None:
         """
@@ -227,10 +168,7 @@ class Articulation(SessionContainer):
         :param pose: World pose as Pose (or dict with position/orientation lists).
         """
 
-        self._session.query_sim_rpc(
-            endpoint="set_articulation_world_pose",
-            payload=SetWorldPose(path=self._path, pose=Pose.from_any(pose)),
-        )
+        self._session.query_sim_rpc(endpoint="articulation/set_world_pose", payload={"path": self._path, "pose": pose})
 
     def set_local_pose(self, pose: Pose | dict) -> None:
         """
@@ -239,7 +177,4 @@ class Articulation(SessionContainer):
         :param pose: Local pose as Pose (or dict with position/orientation lists).
         """
 
-        self._session.query_sim_rpc(
-            endpoint="set_articulation_local_pose",
-            payload=SetLocalPose(path=self._path, pose=Pose.from_any(pose)),
-        )
+        self._session.query_sim_rpc(endpoint="articulation/set_local_pose", payload={"path": self._path, "pose": pose})

{antioch_py-2.0.6/antioch/session/views → antioch_py-2.1.0/antioch/session/objects}/basis_curve.py

@@ -2,18 +2,6 @@ from typing import Literal
 
 from antioch.session.session import Session, SessionContainer
 from common.message import Vector3
-from common.session.views.basis_curve import (
-    AddBasisCurveLine,
-    AddBasisCurveSemiCircle,
-    GetBasisCurve,
-    GetBasisCurveExtents,
-    GetBasisCurveExtentsResponse,
-    GetBasisCurvePoints,
-    GetBasisCurvePointsResponse,
-    GetBasisCurveResponse,
-    RemoveBasisCurve,
-    SetBasisCurveVisibility,
-)
 
 
 class BasisCurve(SessionContainer):
@@ -45,13 +33,8 @@ class BasisCurve(SessionContainer):
         """
 
         super().__init__()
-
-        # Validate path
-        self._path = self._session.query_sim_rpc(
-            endpoint="get_basis_curve",
-            payload=GetBasisCurve(path=path),
-            response_type=GetBasisCurveResponse,
-        ).path
+        self._session.query_sim_rpc(endpoint="basis_curve/get", payload={"path": path})
+        self._path = path
 
     @property
     def path(self) -> str:
@@ -84,14 +67,8 @@ class BasisCurve(SessionContainer):
         """
 
         Session.get_current().query_sim_rpc(
-            endpoint="add_basis_curve_semi_circle",
-            payload=AddBasisCurveSemiCircle(
-                path=path,
-                center=center,
-                radius=radius,
-                min_angle_deg=min_angle_deg,
-                max_angle_deg=max_angle_deg,
-            ),
+            endpoint="basis_curve/add_semi_circle",
+            payload={"path": path, "center": center, "radius": radius, "min_angle_deg": min_angle_deg, "max_angle_deg": max_angle_deg},
         )
         return cls(path)
 
@@ -121,14 +98,8 @@ class BasisCurve(SessionContainer):
         """
 
         Session.get_current().query_sim_rpc(
-            endpoint="add_basis_curve_line",
-            payload=AddBasisCurveLine(
-                path=path,
-                start=start,
-                end=end,
-                angle_deg=angle_deg,
-                length=length,
-            ),
+            endpoint="basis_curve/add_line",
+            payload={"path": path, "start": start, "end": end, "angle_deg": angle_deg, "length": length},
         )
         return cls(path)
 
@@ -139,12 +110,10 @@ class BasisCurve(SessionContainer):
         :return: Extents as tuple of start and end points.
         """
 
-        extents = self._session.query_sim_rpc(
-            endpoint="get_basis_curve_extents",
-            payload=GetBasisCurveExtents(path=self._path),
-            response_type=GetBasisCurveExtentsResponse,
-        )
-        return extents.start, extents.end
+        result = self._session.query_sim_rpc(endpoint="basis_curve/get_extents", payload={"path": self._path})
+        if result is None:
+            raise RuntimeError("Failed to get extents")
+        return Vector3(**result[0]), Vector3(**result[1])
 
     def get_points(
         self, samples_per_segment: int = 10, sort_by: Literal["X", "Y", "Z"] | None = None, ascending: bool = True
@@ -157,11 +126,12 @@ class BasisCurve(SessionContainer):
         :param ascending: Whether to sort the points in ascending order.
         :return: The points of the basis curve.
         """
-        return self._session.query_sim_rpc(
-            endpoint="get_basis_curve_points",
-            payload=GetBasisCurvePoints(path=self._path, samples_per_segment=samples_per_segment, sort_by=sort_by, ascending=ascending),
-            response_type=GetBasisCurvePointsResponse,
-        ).points
+
+        response = self._session.query_sim_rpc(
+            endpoint="basis_curve/get_points",
+            payload={"path": self._path, "samples_per_segment": samples_per_segment, "sort_by": sort_by, "ascending": ascending},
+        )
+        return [Vector3(**pt) for pt in response] if response else []
 
     def set_visibility(self, visible: bool) -> None:
         """
@@ -170,17 +140,11 @@ class BasisCurve(SessionContainer):
         :param visible: True to make visible, False to hide.
         """
 
-        self._session.query_sim_rpc(
-            endpoint="set_basis_curve_visibility",
-            payload=SetBasisCurveVisibility(path=self._path, visible=visible),
-        )
+        self._session.query_sim_rpc(endpoint="basis_curve/set_visibility", payload={"path": self._path, "visible": visible})
 
     def remove(self) -> None:
         """
         Remove the basis curve from the scene.
         """
 
-        self._session.query_sim_rpc(
-            endpoint="remove_basis_curve",
-            payload=RemoveBasisCurve(path=self._path),
-        )
+        self._session.query_sim_rpc(endpoint="basis_curve/remove", payload={"path": self._path})