antioch-py 2.0.7__py3-none-any.whl → 2.1.0__py3-none-any.whl

{antioch_py-2.0.7.dist-info → antioch_py-2.1.0.dist-info}/RECORD

@@ -7,47 +7,46 @@ antioch/module/input.py,sha256=BGbJ6AOgm7gVTO6PBYs8B53q0v_YD3Jy2joM5M7kUlk,4317
 antioch/module/module.py,sha256=6b9s_N1Tpr4Wtp8hXVxZHDzhfKgG2IHeOd8KE65TfMk,7581
 antioch/module/node.py,sha256=1EDNzKbQINs4nKZiSdn_FEPg-3MyCKdC0b7pfucmLgk,14542
 antioch/module/token.py,sha256=6KJbPMoaMqUrx8nfYzAgVTf8EaazT46g6KMC1zO97Pk,830
-antioch/session/__init__.py,sha256=jZTav-Y9IyYqIpyloQuCkaPfRLKPGx-TWmwOrkteJn8,3891
-antioch/session/ark.py,sha256=CF9zaRAZXiVLOkmZpBEaGG4-wydMZ7aUVOnXqnqYZ4U,19096
+antioch/session/__init__.py,sha256=-TtFaO3SCjIjBvh29Dso54qlfqnfdUbUN_p8tW5i220,3526
+antioch/session/ark.py,sha256=r8hpCM8wymtgIX1mcvGofQR6mZOdn9UCsnFAtnnpvto,18814
 antioch/session/asset.py,sha256=G4wKHVxDkzLEtUap7b7jDF6Y_I4gdHiJ-b756QFBx54,2222
 antioch/session/error.py,sha256=hEByLcsS8PPpK46prnz1GSWBx0ErGTnSkwBd29FUmWg,1685
 antioch/session/record.py,sha256=acNeikDeWJFZLovgwbXGHTriqi5-szYjjrnt9s_cdUY,5527
-antioch/session/scene.py,sha256=gESd-ax_xW7ZKPCUejzZMHYGPO0ouG3Ud_TFsHiMrec,60369
-antioch/session/session.py,sha256=MxyWAC56SGC6BORzlw8Sxp4s4QBFuxPb7t0kScYDEtM,6626
-antioch/session/task.py,sha256=ERji5YWU82TL5txBNTLQemJB7Y7xIqS5l76re7MUgvo,11831
-antioch/session/views/__init__.py,sha256=ida-X6eUhYC0nZ6Bk43yoy2sgKyiPU9Am-N90XG0WgM,1252
-antioch/session/views/animation.py,sha256=oID0fM3RSU1d3CVA5EiEizKJF18CfNla_1ta7YCQt40,5960
-antioch/session/views/articulation.py,sha256=0akkhmBJhbJrNmmNwob-S2-t_21Jq9PipTesjYR6wLU,7870
-antioch/session/views/basis_curve.py,sha256=YMz9pMgj4fLkjhr3QZz8_RBv_HnMN3ZcvLj32WseIlE,5685
-antioch/session/views/camera.py,sha256=5S4shhmFqdJs39J00-E1pT7PobdfKWZfQfNbU6s-aNI,2613
-antioch/session/views/collision.py,sha256=7FjbB4PBoE4LEWoLqJhHCkYp57Da7qWcrLAKCiULV9M,1962
-antioch/session/views/geometry.py,sha256=8SyT5_tkJhtW4_VZsv-L6nXE8kRweeLzu-UP-KHABe4,2241
-antioch/session/views/ground_plane.py,sha256=oTpGcATB5SirxD1eZUMCeD28eIeDJ6a7E1pFpj9E_xY,1762
-antioch/session/views/imu.py,sha256=1EVLRptXSqs4YMJt_wiwXM-B95HzVQmx3MyRblTADMs,1889
-antioch/session/views/joint.py,sha256=x_clYul4SsCIl0WQAW61w6sS0iDXompvZVEv_2YFG9c,1735
-antioch/session/views/light.py,sha256=Q9Nn8o0PV9in8Q4eoobsbRxEPhn3xps57K7Z4QmGE8s,4698
-antioch/session/views/material.py,sha256=IfXTj1lJwKWvpz-yj2kELtBbVPAJx_ILVViXUIKKfrI,2071
-antioch/session/views/pir_sensor.py,sha256=ynEpRz7rwATBAs29QPEcDOuEPxB_jjKnmH05N0KA_FA,4048
-antioch/session/views/radar.py,sha256=JAmLvhcqqjbD90Og-YeqjfU8gDk-q5IgMCazEgbapxU,3546
-antioch/session/views/rigid_body.py,sha256=NI-2bFnOLQqClQ3pOhzkggLAhClyKVBXyTmWXgqkZEU,7760
-antioch/session/views/xform.py,sha256=BELykGHYhdZyHkCY6uakCnmJKwhyiDrCEGy9038GY_Y,3299
+antioch/session/scene.py,sha256=LVUqNZc_PonI8X6tg5rrKSTv3zqdAQERt-QOk-g4MhA,58585
+antioch/session/session.py,sha256=K25RZZ8HYMUpyeDoCzzWh-YLs1DcjBlrzxN2SvbtZ4E,6348
+antioch/session/task.py,sha256=OBGFAD-oWRjkQUAElO9bXhJ_SI-j7S6TxKpUmCgN1-M,11484
+antioch/session/objects/__init__.py,sha256=n7EYDfneWwro1OaXphbWGyasZ0tvAAAGe72PcUmTF_Y,1184
+antioch/session/objects/animation.py,sha256=FIgYsHG9TWcdi5aG3ycGorJv-nJBFkiHArDWXLEx8bY,5427
+antioch/session/objects/articulation.py,sha256=bSAvi6ZOAGOPTsXEtt8fGAG3VF8UR8TxSL0L1izGtbQ,6644
+antioch/session/objects/basis_curve.py,sha256=7LD7B92Ohr2bPm5Lh76NaMbFRiHFcUIxaKjWcMYtykc,4954
+antioch/session/objects/camera.py,sha256=clFfSKKlvMlh8x_OZb7AmHrqmWxO9sI760_LGvIBwBM,2252
+antioch/session/objects/collision.py,sha256=ZGAINF7p3MbCoTwvx4Pzicc8dIfbJgjBgUn_TC_hrT0,1479
+antioch/session/objects/geometry.py,sha256=MuC6qnHCVGnxYGovHU8U2G-tRGbINoL273t3yYQAPCE,1954
+antioch/session/objects/ground_plane.py,sha256=o82nW9Ndhw-AiwiSKUrr1IhspFmdah7BYOTc1EUVEeg,1460
+antioch/session/objects/imu.py,sha256=vx59MutAg1HOEvZESqOmxlQocrnXEW1B5rqD7LBzLwM,1602
+antioch/session/objects/joint.py,sha256=_mqXq1IDvzQ9FnvCpKXGa0YNh8f9zCtmskC8UP4QgNI,1476
+antioch/session/objects/light.py,sha256=Sl0zPIiCnocCCLUaaJaiDLbHVhAJ-ZnIr9IOueIrc_g,3831
+antioch/session/objects/pir_sensor.py,sha256=M7-xs4h0-Mq3_Qea0K4ZrezDTOnqL4nXVjLZIIKHdwU,3455
+antioch/session/objects/radar.py,sha256=BXl8OzngiY_urBRBB7kAlBHvtpR9aosWv7nuYcKSeWo,1930
+antioch/session/objects/rigid_body.py,sha256=TuJ04vG0eyzg4lFAVp7ZE0YTzOjhlcqLoNaeW2sZM0E,6294
+antioch/session/objects/xform.py,sha256=VkSDIfFEuutrDVuKO2F5sI4zKsGa0xZzxFeH-tRMjp0,3237
 common/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 common/constants.py,sha256=xlgBKdPoiDzAnWkeEsnktMJfXjBP5FTJkM3MGClTnuY,1085
 common/ark/__init__.py,sha256=Lu2lJ5k7-vN6ZGeX2sYhRwzXEyt9kCyXtgsyvdIaCiU,1472
 common/ark/ark.py,sha256=rToMvtpu634ylJbEfYlTD13Cb3udF_S4SfI8xQsL1P4,2376
-common/ark/hardware.py,sha256=4A7g_rQO9Ylj5majqJMEgBBWHE8rEjcbAj8yhPBkxiM,2420
-common/ark/kinematics.py,sha256=G4wzFVyG_awFPJ8SKcZMZCBQkZkF5g6NQg4RhUjAGCs,753
+common/ark/hardware.py,sha256=5AH9jkrjIvVK6JBfWM7Okpqm9Iqbs7gtyxktlzBS4oI,2252
+common/ark/kinematics.py,sha256=BCPQKmQ5vWlZBCie861TIImmR3X5BniiuGRPoIvByDM,748
 common/ark/module.py,sha256=IwkoirFb4dZkfVpn3tjgChRy5S6hVPbrtR9XgJ5UIBI,1922
 common/ark/node.py,sha256=PWESl7sDdY_Q6aA3CZMRTQ0SONlO9LkUmXhRbUhT8_g,2303
 common/ark/scheduler.py,sha256=QGO_-ZewCvOHJ-w9BAJJQdco0-b-mbbzufpSX9b-mNo,15703
 common/ark/sim.py,sha256=SQtZkf97QF91oLWkTUEhq62GYL3yk7-LLDDR-lXVKcA,900
 common/assets/__init__.py,sha256=We71LsStYI5-hknGd2XHrvHg8G4k1dity887BnI5oPI,102
 common/core/__init__.py,sha256=L8rvLHQd-mOCfDQ2WN9BZiMqU0skeTTkeQvpJ59ouqI,1110
-common/core/agent.py,sha256=UJrZjLPLNLUIWe6-pDB3vE_hUD8JzUTwM87MRxjPYmg,7764
+common/core/agent.py,sha256=EBNSTuxCOUM66UV7e1LA1aQLyYgIsRjFZXWqbbp-lR0,8613
 common/core/auth.py,sha256=TeJIhYm8buQLAkl3jORuGV03pP1MNOhetHunE9z2nsM,9347
 common/core/registry.py,sha256=J2Ihhgr6aTfovm-zSiGEcyHB8iBcpFcZVw6vVYKFjNg,11399
 common/core/task.py,sha256=eybV7yQ8nPYgQtYuse-QvoMJ87Msh6rAN_LUOTGmN94,629
-common/message/__init__.py,sha256=O9HKA_9yJk1-bVhn7CRfY2Q_8H0nze7PjTRZB8fJIec,1747
+common/message/__init__.py,sha256=JHTTMFuMYUF9jspydMihfz2dK9-Mp37zWOTMZBUwK5g,1802
 common/message/annotation.py,sha256=BlzDYhioAK1ATFfgZozmaF7uOqFdSr7KBhe2m03Z2q4,1911
 common/message/array.py,sha256=Fly7u8BE-_QRwnkmv3k6P2EI0FguEUIzF_tE-mFGT1Q,13971
 common/message/base.py,sha256=kdBEmcHy6R9EV_QbarSwPWZE0n_Sar-gXK8g5ceT2-U,18080
@@ -66,36 +65,21 @@ common/message/quaternion.py,sha256=Y6-XR3g7VaWVOkLoK6hE26wTYjnJFjrHIv9y17GM1EY,
 common/message/radar.py,sha256=18w89hpq5tahh9V_49CWKXkU78b21xrTj_bH35u1UFE,2014
 common/message/types.py,sha256=k2wtbozsyd4HhMBoDfPFMLyCAGmTxaOvVhzIr-wx3N0,480
 common/message/vector.py,sha256=IrREGUi2zKTUmp5PG4YNiJKEM1zRXLl0fK9QuF7I06o,20302
+common/message/velocity.py,sha256=vHcFH_nMNBgobwY7dLeBaHJNvNiJxsQaPxImUh3GjHY,205
 common/rome/__init__.py,sha256=hfwUw5wbT-Ph-OFwGhiqw3XEeWaZwmLAs66LOYKqfzU,210
 common/rome/client.py,sha256=6cFzqXilZWNndRAhJctqdPjQQbJM4a0BzoyGYZapIh0,15462
 common/rome/error.py,sha256=oW8yI81o3hQghop4omFcMkXx4IbacGye38Iyw2VKihQ,294
-common/session/__init__.py,sha256=q0sWg6gKU2dNX0IzBAXHTpwarg1eYwCjQYWmII2SW70,1131
+common/session/__init__.py,sha256=S6DsgJbRwFHaEcqe2CNrR_KI2811B1auLv-VX4g5JVU,643
+common/session/config.py,sha256=IxNK4uGRVmruLq9eFktBu8opyc_ACg1kysgkvCb5lho,17874
 common/session/environment.py,sha256=CVW00KXWF8L0L6ocUsZ2UWt-iqAiP0usFdhZsK43fak,714
-common/session/sim.py,sha256=0eSxUwiHWh-siombwy3qX_e-oZ7KGbwIh-GvAxiGZAM,5717
-common/session/views/__init__.py,sha256=AVqMcuR_rA2mO7JmttYcACnHXsNyIf4xvqmDBCXft30,6525
-common/session/views/animation.py,sha256=Dz9bFMQeLGWaOgQ9GPOMjBBZ7uB2Nynk0ovQl9EDBfA,2407
-common/session/views/articulation.py,sha256=DwJTQk8iU3vII9aEc9_CBtUEszD1uhfCAr2NNJP9SBA,5044
-common/session/views/basis_curve.py,sha256=56ylRppXA6_pUWJvSS_XjgI5rxBtJ0v16zU7vM8RcnQ,3115
-common/session/views/camera.py,sha256=H9Gt0K9DhoiBKxeSyljezj6Mn1-Rp4-vkf_4our3IPE,4458
-common/session/views/collision.py,sha256=brMzJRsYXW9MAqmPMzovSBx73MM870V3hzfkL5yroFY,1360
-common/session/views/geometry.py,sha256=7CBTugs8Onr7tddyzz5g5f3HY7rz_9tuIxYbRWbnFmM,3453
-common/session/views/ground_plane.py,sha256=iHi7bx3qHveh94b88oPz7Yy9cjznc194T6Bx9I6SK1Q,1174
-common/session/views/imu.py,sha256=usMm4yeqY_emcTQGjs2hC3Rk-tfen2dp0fIWTDADpxc,1593
-common/session/views/joint.py,sha256=eP5fLAWqvaQ13xZrNkn79DdRERZMvVrP9emJYZ_J_KA,2098
-common/session/views/light.py,sha256=IpqkSB6qZCfbe63GAJaPHdy4rJDNki8h-Hm-1kwDwHc,2284
-common/session/views/material.py,sha256=QtklOzGZn7nPiMzR7aq9u0nTSkCUlY-rsaPzfv1f9EQ,942
-common/session/views/pir_sensor.py,sha256=HyrV5SU9GEWBL-s9B6AKoR6VhhvPxr7EnEzhSwyECPc,5495
-common/session/views/radar.py,sha256=KTEwFKvEr3f2SrdAhb3iSIKRMKa0PIRXx7-T5hRiDgg,3429
-common/session/views/rigid_body.py,sha256=19cjU2bZvaFzs8OoNsu4gzZHu97nJMUueBc6Wt0NUWk,4523
-common/session/views/viewport.py,sha256=tPb1yCFd5nqCapkqSyWCEJ8joEk3fIIfZNr1uAbNAfM,682
-common/session/views/xform.py,sha256=uxcmtFFGKLF-Jkln1r08CZuyLr7EI8DvdKYuyUFdieM,863
+common/session/sim.py,sha256=CrwVPbu0m8UAFUSsTsU_TMgD1Ik9FKxs9FsaepIuZzg,2859
 common/utils/__init__.py,sha256=9zRb7XayzCGRs4I94hWKJHyQ1MevlUiTzXsPNBLBX7Y,113
 common/utils/comms.py,sha256=1lpnb9ra5I3xv-Eo0GFZ7nR4TjKseOeDNf9QMWQZbds,17283
 common/utils/logger.py,sha256=VcZ4dduWut8xWPs-F5ye8RRrNdBehSSG3r1LAWc-IBY,3389
 common/utils/time.py,sha256=kGDzObbaqWOep4vT1Y2W-BheunxdjYBI4V3Nfp4Ck3Q,790
 common/utils/usd.py,sha256=to4VPtnamMDIQK-pwDIVfiuzUnNzEImj5szOar1NHiE,253
-antioch_py-2.0.7.dist-info/METADATA,sha256=Pbd_ezyxJrXnLGCkcb1RhzJP9PuBnEVBkIUMUhAamSU,3485
-antioch_py-2.0.7.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-antioch_py-2.0.7.dist-info/entry_points.txt,sha256=1bLTH5BXCOsQkS8k6L_wJ6Nj62j4aoU9Ey_PhWzsRRM,59
-antioch_py-2.0.7.dist-info/top_level.txt,sha256=GtzNccsep3YdBt9VXQ7-ZFsFJFffr4hyZvqg0YqRqtw,15
-antioch_py-2.0.7.dist-info/RECORD,,
+antioch_py-2.1.0.dist-info/METADATA,sha256=3OC3a-QVismTnO4q-fDOvSjPScvGZqPKSMEeCcrJ-ro,3485
+antioch_py-2.1.0.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+antioch_py-2.1.0.dist-info/entry_points.txt,sha256=1bLTH5BXCOsQkS8k6L_wJ6Nj62j4aoU9Ey_PhWzsRRM,59
+antioch_py-2.1.0.dist-info/top_level.txt,sha256=GtzNccsep3YdBt9VXQ7-ZFsFJFffr4hyZvqg0YqRqtw,15
+antioch_py-2.1.0.dist-info/RECORD,,

common/ark/hardware.py

@@ -6,11 +6,7 @@ from typing import Annotated, Literal, Union
 from pydantic import Field
 
 from common.message import Message, Pose
-from common.session.views.articulation import ArticulationConfig
-from common.session.views.camera import CameraConfig
-from common.session.views.imu import ImuConfig
-from common.session.views.pir_sensor import PirSensorConfig
-from common.session.views.radar import RadarConfig
+from common.session.config import ArticulationConfig, CameraConfig, ImuConfig, PirSensorConfig, RadarConfig
 
 
 class HardwareType(str, Enum):

common/ark/kinematics.py

@@ -1,5 +1,5 @@
 from common.message import Message, Pose
-from common.session.views.joint import JointAxis, JointType
+from common.session.config import JointAxis, JointType
 
 
 class Joint(Message):

common/core/agent.py

@@ -63,6 +63,14 @@ class RecordTelemetryRequest(Message):
     websocket_port: int | None = None
 
 
+class SaveTelemetryRequest(Message):
+    """
+    Request to save telemetry (finalize MCAP without resetting session).
+    """
+
+    _type = "antioch/agent/save_telemetry_request"
+
+
 class AgentResponse(Message):
     """
     Generic response for agent operations.
@@ -251,6 +259,26 @@ class Agent:
         if not response.success:
             raise AgentError(f"Failed to start recording telemetry: {response.error}")
 
+    def save_telemetry(self) -> None:
+        """
+        Save telemetry by finalizing the MCAP file.
+
+        Closes the current MCAP recording if one is active. Does NOT reset the websocket
+        session or time tracking - telemetry continues streaming to connected clients.
+
+        :raises AgentError: If the agent fails to save telemetry.
+        """
+
+        response = self.comms.query(
+            path="_agent/save_telemetry",
+            response_type=AgentResponse,
+            request=SaveTelemetryRequest(),
+            timeout=5.0,
+        )
+
+        if not response.success:
+            raise AgentError(f"Failed to save telemetry: {response.error}")
+
     def reset_telemetry(self) -> None:
         """
         Reset telemetry session completely.

common/message/__init__.py

@@ -16,6 +16,7 @@ from common.message.quaternion import Quaternion
 from common.message.radar import RadarDetection, RadarScan
 from common.message.types import Bool, Float, Int, String
 from common.message.vector import Vector2, Vector3
+from common.message.velocity import Twist
 
 __all__ = [
     "Array",
@@ -56,4 +57,5 @@ __all__ = [
     "TextAnnotation",
     "Vector2",
     "Vector3",
+    "Twist",
 ]

common/message/velocity.py

@@ -0,0 +1,11 @@
+from common.message.base import Message
+from common.message.vector import Vector3
+
+
+class Twist(Message):
+    """
+    Linear and angular velocity (twist).
+    """
+
+    linear: Vector3
+    angular: Vector3

common/session/__init__.py

@@ -1,54 +1,31 @@
+from common.session.config import BodyType, DistortionModel, GeometryType, LightType, MeshApproximation
 from common.session.sim import (
-    AddAsset,
-    GetLocalPose,
-    GetPrimAttribute,
-    GetWorldPose,
     PrimAttributeValue,
     PrimInfo,
-    QueryScene,
     RpcCall,
     RpcError,
     RpcResponse,
     SceneQueryResponse,
     SceneTarget,
-    SetLocalPose,
-    SetPrimAttribute,
-    SetWorldPose,
     SimulationInfo,
     SimulationState,
     SimulationTime,
-    Step,
-    ToggleUi,
 )
-from common.session.views.camera import DistortionModel
-from common.session.views.geometry import GeometryType, MeshApproximation
-from common.session.views.light import LightType
-from common.session.views.rigid_body import BodyType
 
 __all__ = [
-    "AddAsset",
     "BodyType",
     "DistortionModel",
     "GeometryType",
-    "GetLocalPose",
-    "GetPrimAttribute",
-    "GetWorldPose",
     "LightType",
     "MeshApproximation",
     "PrimAttributeValue",
     "PrimInfo",
-    "QueryScene",
     "RpcCall",
     "RpcError",
     "RpcResponse",
     "SceneQueryResponse",
     "SceneTarget",
-    "SetLocalPose",
-    "SetPrimAttribute",
-    "SetWorldPose",
     "SimulationInfo",
     "SimulationState",
     "SimulationTime",
-    "Step",
-    "ToggleUi",
 ]

common/session/config.py

@@ -0,0 +1,390 @@
+from enum import Enum
+
+from pydantic import Field
+from pydantic.alias_generators import to_camel
+
+from common.message import CameraInfo, 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 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 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 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 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 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 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 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 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 PirSensorConfig(Message):
+    """
+    Configuration for PIR (Passive Infrared) motion sensor.
+
+    PIR sensors detect infrared radiation changes caused by moving warm objects.
+    The sensor uses a 3-sensor design (center, left, right) with dual elements per sensor.
+    """
+
+    # Core sensor parameters
+    update_rate_hz: float = Field(default=60.0, description="Sensor update frequency in Hz")
+    max_range: float = Field(default=20.0, description="Maximum detection range in meters")
+
+    # FOV configuration
+    total_horiz_fov_deg: float = Field(default=150.0, description="Total horizontal coverage")
+    sensor_side_fov_deg: float = Field(default=45.0, description="Horizontal FOV for side sensors")
+    sensor_center_fov_deg: float = Field(default=45.0, description="Horizontal FOV for center sensor")
+
+    # Ray configuration
+    sensor_rays_horiz: int = Field(default=128, description="Number of rays per sensor in horizontal direction")
+    sensor_rays_vert: int = Field(default=16, description="Number of rays per sensor in vertical direction")
+
+    # Sensor vertical angle range
+    min_vertical_angle_center: float = Field(default=-30.0, description="Minimum vertical angle for center sensor in degrees")
+    max_vertical_angle_center: float = Field(default=30.0, description="Maximum vertical angle for center sensor in degrees")
+    min_vertical_angle_side: float = Field(default=-30.0, description="Minimum vertical angle for side sensors in degrees")
+    max_vertical_angle_side: float = Field(default=30.0, description="Maximum vertical angle for side sensors in degrees")
+
+    # DSP / electronics parameters
+    gain_center: float = Field(default=0.015, description="Amplifier gain for center sensor")
+    gain_sides: float = Field(default=0.01, description="Amplifier gain for side sensors")
+    hp_corner_hz: float = Field(default=0.4, description="High-pass filter corner frequency in Hz")
+    lp_corner_hz: float = Field(default=10.0, description="Low-pass filter corner frequency in Hz")
+    blind_time_s: float = Field(default=0.5, description="Blind time after detection in seconds")
+    pulse_counter: int = Field(default=2, description="Number of pulses required to trigger detection (1-4)")
+    window_time_s: float = Field(default=2.0, description="Window time for pulse counting in seconds")
+    count_mode: int = Field(default=0, description="Pulse counting mode (0: sign change required, 1: any crossing)")
+
+    # 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)")
+
+    # Environment parameters
+    ambient_temp_c: float = Field(default=20.0, description="Ambient temperature in Celsius")
+
+    # Hard-coded threshold (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=4000.0, description="Pyroelectric responsivity scaling factor")
+    noise_amplitude: float = Field(default=20e-6, 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")