antioch-py 2.0.7__py3-none-any.whl → 2.2.1__py3-none-any.whl

antioch/session/task.py

@@ -201,8 +201,8 @@ class Task(SessionContainer):
             except Exception as e:
                 raise SessionTaskError(f"Failed to create bundle: {e}") from e
 
-        # Reset telemetry and save the MCAP file to disk
-        self._agent.reset_telemetry()
+        # Save the MCAP file to disk (does not reset websocket session)
+        self._agent.save_telemetry()
 
         # Upload task to Antioch Cloud
         try:
@@ -224,20 +224,6 @@ class Task(SessionContainer):
         self._ark_hash = None
         self._task_start_time = None
 
-    def clear(self) -> None:
-        """
-        Clear the task and reset the task state.
-        """
-
-        self._agent.reset_telemetry()
-        self._logger = None
-        self._started = False
-        self._mcap_path = None
-        self._ark_name = None
-        self._ark_version = None
-        self._ark_hash = None
-        self._task_start_time = None
-
     def _create_bundle(self, bundle_paths: list[Path]) -> str:
         """
         Create a tar.gz archive from the provided file paths.

{antioch_py-2.0.7.dist-info → antioch_py-2.2.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: antioch-py
-Version: 2.0.7
+Version: 2.2.1
 Summary: The Antioch Python SDK
 Author-email: Antioch Robotics <support@antioch.dev>
 License-Expression: MIT

antioch_py-2.2.1.dist-info/RECORD

@@ -0,0 +1,85 @@
+antioch/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+antioch/message.py,sha256=7YsmUA6H3Imikv6beUJilTpA8Nb5DCkeOwbRQwOLfGI,1463
+antioch/module/__init__.py,sha256=nSbYXkicwbypnfyko2cN2JwvIzSntfVEYyP63VVPaGU,1008
+antioch/module/clock.py,sha256=54NpvlbkFLtmiLGMXADGCkYbooUaKsDGN-xjjDqq7mw,2026
+antioch/module/execution.py,sha256=bASbLFz3YqP7Ma5Pbga6W7ddNCQo3GzbjAlgrQXYWSw,7995
+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=-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=srg2F8PH4tOx9f2an2Q9TULyDtGPcBpBC3Gm6gMzjo8,60036
+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=I5x5CklyDeg7m3907Gs9vDa4PP9mjnMPZutjg7Vc8Kg,5918
+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=0jsX0pWUklL9UNLK4_rzGuo53qFWZX1_PIw9j2aKDnU,1652
+common/ark/__init__.py,sha256=Lu2lJ5k7-vN6ZGeX2sYhRwzXEyt9kCyXtgsyvdIaCiU,1472
+common/ark/ark.py,sha256=RqD8fmSPK_cjnaUOsscAj9406BsMXVCEynu_RtGa6qk,2444
+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=EBNSTuxCOUM66UV7e1LA1aQLyYgIsRjFZXWqbbp-lR0,8613
+common/core/auth.py,sha256=ihMnlhyDWJ73VhxqSulLTPxgorDK76WT7Mx97RCAhLY,9244
+common/core/registry.py,sha256=J2Ihhgr6aTfovm-zSiGEcyHB8iBcpFcZVw6vVYKFjNg,11399
+common/core/task.py,sha256=eybV7yQ8nPYgQtYuse-QvoMJ87Msh6rAN_LUOTGmN94,629
+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
+common/message/camera.py,sha256=Xv3Y31ppg9fkjncMteHwgB3Dx7RNRWbnStoDFp-YnhM,3075
+common/message/color.py,sha256=PsM-mD-LAitJJD4DCvMaSFGwXjFEiWgdcrqxFRj0wGI,3292
+common/message/frame.py,sha256=J8J0EutQ3mfHvmGjna-7hhWgIyqHgkKPPjIgMMyxCUw,1674
+common/message/image.py,sha256=aF_rU_sOSJQci6g_Wr5Sd16FUFnHm2kgurqWcPPKbaA,5296
+common/message/imu.py,sha256=mwIu_dK64aixrnz6Hsg8v-vXVKUabLBNbfHe2KqbVPo,328
+common/message/joint.py,sha256=V9qEILZVaWoAbKGT_V3wvSAvZzoJ7YmrcROkIdzmg5o,1051
+common/message/log.py,sha256=VN1zCwrUtTPNiyakNjYPZuz3UDMtW19fhD1F1M8MTf8,552
+common/message/pir.py,sha256=nSm5dymphomoOZqZAtQeUCowrIginEjVvLwW9NdGNAU,797
+common/message/point.py,sha256=oryHZEltba1z3GFRyb099oDddmiLE5SM4TKexgtBYaE,2229
+common/message/point_cloud.py,sha256=e06e6-bGaN8VzwkCy4MltDZocnKP7Bbr14gBlUhXu-A,2035
+common/message/pose.py,sha256=fcb0-xuIYWaaHHGC_iET9yma1fuicFvXJsaJaLO5XVI,4703
+common/message/quaternion.py,sha256=Y6-XR3g7VaWVOkLoK6hE26wTYjnJFjrHIv9y17GM1EY,6897
+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=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=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-2.2.1.dist-info/METADATA,sha256=tAfB1wW9PidvVyBtDfXQBpCt3DoP3jboH_QbI9isJeo,3485
+antioch_py-2.2.1.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+antioch_py-2.2.1.dist-info/entry_points.txt,sha256=1bLTH5BXCOsQkS8k6L_wJ6Nj62j4aoU9Ey_PhWzsRRM,59
+antioch_py-2.2.1.dist-info/top_level.txt,sha256=GtzNccsep3YdBt9VXQ7-ZFsFJFffr4hyZvqg0YqRqtw,15
+antioch_py-2.2.1.dist-info/RECORD,,

common/ark/ark.py

@@ -65,6 +65,7 @@ class ArkVersionReference(Message):
     size_bytes: int
     asset_path: str | None = None
     asset_size_bytes: int | None = None
+    metadata: dict[str, str] = {}
 
 
 class ArkReference(Message):
@@ -88,6 +89,7 @@ class AssetVersionReference(Message):
     size_bytes: int
     created_at: str
     updated_at: str
+    metadata: dict[str, str] = {}
 
 
 class AssetReference(Message):

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/constants.py

@@ -1,8 +1,22 @@
 import os
 from pathlib import Path
 
-ANTIOCH_API_URL = os.environ.get("ANTIOCH_API_URL", "https://staging.api.antioch.com")
-ANTIOCH_DIR = os.environ.get("ANTIOCH_DIR", str(Path.home() / ".antioch"))
+ANTIOCH_ENV = os.environ.get("ANTIOCH_ENV", "prod").lower()
+if ANTIOCH_ENV not in ("prod", "staging"):
+    raise ValueError(f"Invalid ANTIOCH_ENV: {ANTIOCH_ENV}")
+
+if ANTIOCH_ENV == "staging":
+    ANTIOCH_API_URL = "https://staging.api.antioch.com"
+    AUTH_DOMAIN = "https://staging.auth.antioch.com"
+    AUTH_CLIENT_ID = "x0aOquV43Xe76ehqAm6Zir80O0MWpqTV"
+else:
+    ANTIOCH_API_URL = "https://api.antioch.com"
+    AUTH_DOMAIN = "https://auth.antioch.com"
+    AUTH_CLIENT_ID = "8RLoPEgMP3ih10sfJsGPkwbUWGilsoyX"
+
+ANTIOCH_API_URL = os.environ.get("ANTIOCH_API_URL", ANTIOCH_API_URL)
+AUTH_DOMAIN = os.environ.get("AUTH_DOMAIN", AUTH_DOMAIN)
+ANTIOCH_DIR = os.environ.get("ANTIOCH_DIR", str(Path.home() / ".antioch" / ANTIOCH_ENV))
 
 
 def get_auth_dir() -> Path:

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/core/auth.py

@@ -7,15 +7,13 @@ from pathlib import Path
 import requests
 from pydantic import BaseModel
 
-from common.constants import get_auth_dir
+from common.constants import AUTH_CLIENT_ID, AUTH_DOMAIN, get_auth_dir
 
 # Authentication routes
-AUTH_DOMAIN = os.environ.get("AUTH_DOMAIN", "https://staging.auth.antioch.com")
 AUTH_TOKEN_URL = f"{AUTH_DOMAIN}/oauth/token"
 DEVICE_CODE_URL = f"{AUTH_DOMAIN}/oauth/device/code"
 
 # Authentication constants
-AUTH_CLIENT_ID = "x0aOquV43Xe76ehqAm6Zir80O0MWpqTV"
 ALGORITHMS = ["RS256"]
 AUDIENCE = "https://sessions.antioch.com"
 AUTH_SCOPE = "openid profile email"

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",
 ]