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

common/session/views/pir_sensor.py

@@ -1,119 +0,0 @@
-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=20.0, description="Maximum detection range in meters")
-
-    # FOV configuration
-    total_horiz_fov_deg: float = Field(default=150.0, description="Total horizontal coverage. Enables automatic fanning.")
-    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 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=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")
-
-
-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

@@ -1,107 +0,0 @@
-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 SetRadarDebugMode(Message):
-    """
-    Enable or disable debug visualization for a radar sensor.
-    """
-
-    path: str
-    enabled: bool = Field(description="Whether to enable debug visualization")
-
-
-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
-
-
-class SetRadarMaterial(Message):
-    """
-    Set radar-specific material properties on a prim and all materials in its subtree.
-
-    These properties define how the prim appears to radar sensors.
-    Based on RTX Sensor Non-Visual Materials system.
-    """
-
-    path: str = Field(description="USD path of the prim to configure")
-    reflectivity: float | None = Field(default=None, description="Radar reflectivity (0-1)")
-    metallic: float | None = Field(default=None, description="Metallic property (0-1)")
-    roughness: float | None = Field(default=None, description="Surface roughness (0-1)")
-    backscattering: float | None = Field(default=None, description="Backscattering coefficient")
-    cross_section: float | None = Field(default=None, description="Radar cross section in dBsm")

common/session/views/rigid_body.py

@@ -1,236 +0,0 @@
-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

@@ -1,21 +0,0 @@
-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

@@ -1,39 +0,0 @@
-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