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

antioch/session/views/collision.py

@@ -1,75 +0,0 @@
-from antioch.session.session import Session
-from common.session.views.collision import (
-    GetMeshApproximation,
-    GetMeshApproximationResponse,
-    HasCollision,
-    HasCollisionResponse,
-    RemoveCollision,
-    SetCollision,
-)
-from common.session.views.geometry import MeshApproximation
-
-
-def set_collision(path: str, mesh_approximation: MeshApproximation | None = None) -> None:
-    """
-    Apply collision API to a prim, optionally with mesh approximation.
-
-    :param path: USD path to the prim.
-    :param mesh_approximation: Optional mesh approximation method for collision geometry.
-    """
-
-    Session.get_current().query_sim_rpc(
-        endpoint="set_collision",
-        payload=SetCollision(path=path, mesh_approximation=mesh_approximation),
-    )
-
-
-def remove_collision(path: str) -> None:
-    """
-    Remove collision API from a prim.
-
-    :param path: USD path to the prim.
-    """
-
-    Session.get_current().query_sim_rpc(
-        endpoint="remove_collision",
-        payload=RemoveCollision(path=path),
-    )
-
-
-def has_collision(path: str) -> bool:
-    """
-    Check if a prim has collision API applied.
-
-    :param path: USD path to the prim.
-    :return: True if collision API is applied.
-    """
-
-    return (
-        Session.get_current()
-        .query_sim_rpc(
-            endpoint="has_collision",
-            payload=HasCollision(path=path),
-            response_type=HasCollisionResponse,
-        )
-        .has_collision
-    )
-
-
-def get_mesh_approximation(path: str) -> MeshApproximation | None:
-    """
-    Get mesh collision approximation from a prim.
-
-    :param path: USD path to the prim.
-    :return: Mesh approximation method, or None if not set.
-    """
-
-    return (
-        Session.get_current()
-        .query_sim_rpc(
-            endpoint="get_mesh_approximation_rpc",
-            payload=GetMeshApproximation(path=path),
-            response_type=GetMeshApproximationResponse,
-        )
-        .approximation
-    )

antioch/session/views/material.py

@@ -1,54 +0,0 @@
-from antioch.session.session import Session
-from common.session.views.material import SetNonVisualMaterial, SetNonVisualMaterialResponse
-
-
-def set_nonvisual_material(
-    path: str,
-    base: str,
-    coating: str = "none",
-    attribute: str = "none",
-) -> int:
-    """
-    Set non-visual material properties on all Material prims in a subtree.
-
-    These properties define how objects appear to RTX sensors (LiDAR and Radar).
-
-    Valid base materials:
-        Metals: aluminum, steel, oxidized_steel, iron, oxidized_iron, silver, brass,
-                bronze, oxidized_bronze_patina, tin
-        Polymers: plastic, fiberglass, carbon_fiber, vinyl, plexiglass, pvc, nylon, polyester
-        Glass: clear_glass, frosted_glass, one_way_mirror, mirror, ceramic_glass
-        Other: asphalt, concrete, leaf_grass, dead_leaf_grass, rubber, wood, bark,
-               cardboard, paper, fabric, skin, fur_hair, leather, marble, brick,
-               stone, gravel, dirt, mud, water, salt_water, snow, ice, calibration_lambertion
-        Default: none
-
-    Valid coatings: none, paint, clearcoat, paint_clearcoat
-
-    Valid attributes: none, emissive, retroreflective, single_sided, visually_transparent
-
-    Example:
-        # Make a person visible to radar/lidar with skin material
-        count = set_nonvisual_material("/World/person", base="skin")
-
-        # Make a car with aluminum body and paint coating
-        count = set_nonvisual_material("/World/car", base="aluminum", coating="paint")
-
-    :param path: USD path of the root prim to configure.
-    :param base: Base material type.
-    :param coating: Coating type.
-    :param attribute: Material attribute.
-    :return: Number of Material prims modified.
-    """
-
-    response = Session.get_current().query_sim_rpc(
-        endpoint="set_nonvisual_material",
-        payload=SetNonVisualMaterial(
-            path=path,
-            base=base,
-            coating=coating,
-            attribute=attribute,
-        ),
-        response_type=SetNonVisualMaterialResponse,
-    )
-    return response.materials_modified

antioch/session/views/radar.py

@@ -1,131 +0,0 @@
-from antioch.session.session import Session, SessionContainer
-from common.message import Pose, RadarScan
-from common.session.views.radar import (
-    AddRadar,
-    GetRadar,
-    GetRadarResponse,
-    GetRadarScan,
-    RadarConfig,
-    SetRadarDebugMode,
-    SetRadarMaterial,
-)
-
-
-class Radar(SessionContainer):
-    """
-    Radar view for time-synchronized scan data.
-
-    Example:
-        scene = Scene()
-        radar = scene.get_radar(name="my_ark/my_module/my_radar")
-        scan = radar.get_scan()
-    """
-
-    def __init__(self, path: str):
-        """
-        Initialize Radar view.
-
-        :param path: USD path for the radar.
-        """
-
-        super().__init__()
-
-        self._path = self._session.query_sim_rpc(
-            endpoint="get_radar",
-            payload=GetRadar(path=path),
-            response_type=GetRadarResponse,
-        ).path
-
-    @classmethod
-    def add(
-        cls,
-        path: str,
-        config: RadarConfig,
-        world_pose: Pose | None,
-        local_pose: Pose | None,
-    ) -> "Radar":
-        """
-        Add radar to the scene.
-
-        :param path: USD path for the radar.
-        :param config: Radar configuration.
-        :param world_pose: Optional world pose.
-        :param local_pose: Optional local pose.
-        :return: The radar instance.
-        """
-
-        Session.get_current().query_sim_rpc(
-            endpoint="add_radar",
-            payload=AddRadar(
-                path=path,
-                config=config,
-                world_pose=world_pose,
-                local_pose=local_pose,
-            ),
-        )
-        return cls(path)
-
-    def get_scan(self) -> RadarScan | None:
-        """
-        Get radar scan data.
-
-        :return: Radar scan with detections, or None if scan data is not ready.
-        """
-
-        scan = self._session.query_sim_rpc(
-            endpoint="get_radar_scan",
-            payload=GetRadarScan(path=self._path),
-            response_type=RadarScan,
-        )
-
-        return scan
-
-    def set_debug_mode(self, enabled: bool) -> None:
-        """
-        Enable or disable debug visualization.
-
-        :param enabled: Whether to enable debug visualization.
-        """
-
-        self._session.query_sim_rpc(
-            endpoint="set_radar_debug_mode",
-            payload=SetRadarDebugMode(path=self._path, enabled=enabled),
-        )
-
-
-def set_radar_material(
-    path: str,
-    reflectivity: float | None = None,
-    metallic: float | None = None,
-    roughness: float | None = None,
-    backscattering: float | None = None,
-    cross_section: float | None = None,
-) -> None:
-    """
-    Set radar-specific material properties on a prim and all prims in its subtree.
-
-    These properties define how the prim appears to radar sensors.
-
-    Example:
-        # Make a target highly reflective to radar
-        set_radar_material("/World/car", reflectivity=0.9, metallic=1.0)
-
-    :param path: USD path of the prim to configure.
-    :param reflectivity: Radar reflectivity (0-1).
-    :param metallic: Metallic property (0-1).
-    :param roughness: Surface roughness (0-1).
-    :param backscattering: Backscattering coefficient.
-    :param cross_section: Radar cross section in dBsm.
-    """
-
-    Session.get_current().query_sim_rpc(
-        endpoint="set_radar_material",
-        payload=SetRadarMaterial(
-            path=path,
-            reflectivity=reflectivity,
-            metallic=metallic,
-            roughness=roughness,
-            backscattering=backscattering,
-            cross_section=cross_section,
-        ),
-    )

antioch_py-2.0.7.dist-info/RECORD

@@ -1,101 +0,0 @@
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-antioch/module/token.py,sha256=6KJbPMoaMqUrx8nfYzAgVTf8EaazT46g6KMC1zO97Pk,830
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-antioch_py-2.0.7.dist-info/RECORD,,

common/session/views/__init__.py

@@ -1,263 +0,0 @@
-from common.message import PirStatus
-from common.session.views.animation import (
-    AddAnimationFromBasisCurve,
-    AddAnimationFromWaypoints,
-    GetAnimation,
-    GetAnimationResponse,
-    RemoveAnimation,
-    UpdateAnimationBasisCurve,
-    UpdateAnimationWaypoints,
-)
-from common.session.views.articulation import (
-    AddArticulation,
-    ArticulationConfig,
-    ArticulationJointConfig,
-    ArticulationJointConfigs,
-    ArticulationJointStates,
-    ArticulationJointTargets,
-    BufferArticulationRead,
-    BufferArticulationWrite,
-    BufferArticulationWriteResponse,
-    BufferedArticulationState,
-    GetArticulation,
-    GetArticulationJointConfigs,
-    GetArticulationJointStates,
-    GetArticulationJointTargets,
-    GetArticulationResponse,
-    GetBufferedArticulationRead,
-    SetArticulationJointConfigs,
-    SetArticulationJointStates,
-    SetArticulationJointTargets,
-)
-from common.session.views.basis_curve import (
-    AddBasisCurveSemiCircle,
-    GetBasisCurve,
-    GetBasisCurveExtents,
-    GetBasisCurveExtentsResponse,
-    GetBasisCurvePoints,
-    GetBasisCurvePointsResponse,
-    GetBasisCurveResponse,
-    RemoveBasisCurve,
-    SetBasisCurveVisibility,
-)
-from common.session.views.camera import AddCamera, CameraConfig, CameraMode, DistortionModel, GetCamera, GetCameraFrame, GetCameraResponse
-from common.session.views.collision import (
-    GetMeshApproximation,
-    GetMeshApproximationResponse,
-    HasCollision,
-    HasCollisionResponse,
-    RemoveCollision,
-    SetCollision,
-)
-from common.session.views.geometry import AddGeometry, GeometryConfig, GeometryType, GetGeometry, GetGeometryResponse, MeshApproximation
-from common.session.views.ground_plane import AddGroundPlane, GetGroundPlane, GetGroundPlaneResponse, GroundPlaneConfig
-from common.session.views.imu import AddImu, GetImu, GetImuResponse, GetImuSample, ImuConfig
-from common.session.views.joint import AddJoint, GetJoint, GetJointResponse, JointAxis, JointConfig, JointType
-from common.session.views.light import (
-    AddLight,
-    DisableLight,
-    EnableLight,
-    GetLight,
-    GetLightResponse,
-    LightConfig,
-    LightType,
-    SetLightColor,
-    SetLightIntensity,
-)
-from common.session.views.pir_sensor import (
-    AddPirSensor,
-    GetPirDetectionStatus,
-    GetPirSensor,
-    GetPirSensorResponse,
-    PirSensorConfig,
-    SetPirDebugMode,
-    SetPirMaterial,
-)
-from common.session.views.radar import (
-    AddRadar,
-    BufferRadarRead,
-    GetBufferedRadarRead,
-    GetRadar,
-    GetRadarResponse,
-    GetRadarScan,
-    RadarConfig,
-)
-from common.session.views.rigid_body import (
-    AddRigidBody,
-    ApplyForce,
-    ApplyForceAtPosition,
-    ApplyTorque,
-    BodyCenterOfMass,
-    BodyDistance,
-    BodyInertia,
-    BodyMass,
-    BodyType,
-    BodyVelocity,
-    BoundingBox,
-    DisableGravity,
-    DisablePhysics,
-    EnableGravity,
-    EnablePhysics,
-    GetBodyBoundingBox,
-    GetBodyCenterOfMass,
-    GetBodyInertia,
-    GetBodyMass,
-    GetBodyVelocity,
-    GetDistanceBetweenBodies,
-    GetRigidBody,
-    GetRigidBodyResponse,
-    RigidBodyConfig,
-    SetBodyVelocity,
-)
-from common.session.views.viewport import (
-    SetActiveViewportCamera,
-    SetCameraView,
-)
-from common.session.views.xform import (
-    AddXForm,
-    GetXForm,
-    GetXFormResponse,
-    SetXformVisibility,
-)
-
-__all__ = [
-    # Articulation
-    "ArticulationConfig",
-    "ArticulationJointConfig",
-    "ArticulationJointConfigs",
-    "ArticulationJointStates",
-    "ArticulationJointTargets",
-    "BufferArticulationRead",
-    "BufferArticulationWrite",
-    "BufferArticulationWriteResponse",
-    "BufferedArticulationState",
-    "AddArticulation",
-    "GetArticulationJointConfigs",
-    "GetArticulationJointStates",
-    "GetArticulationJointTargets",
-    "GetBufferedArticulationRead",
-    "GetArticulation",
-    "GetArticulationResponse",
-    "SetArticulationJointConfigs",
-    "SetArticulationJointStates",
-    "SetArticulationJointTargets",
-    # Camera
-    "AddCamera",
-    "CameraConfig",
-    "CameraMode",
-    "DistortionModel",
-    "GetCamera",
-    "GetCameraFrame",
-    "GetCameraResponse",
-    # Collision
-    "GetMeshApproximation",
-    "GetMeshApproximationResponse",
-    "HasCollision",
-    "HasCollisionResponse",
-    "RemoveCollision",
-    "SetCollision",
-    # Geometry
-    "AddGeometry",
-    "GeometryConfig",
-    "GeometryType",
-    "GetGeometry",
-    "GetGeometryResponse",
-    "MeshApproximation",
-    # Ground Plane
-    "AddGroundPlane",
-    "GetGroundPlane",
-    "GetGroundPlaneResponse",
-    "GroundPlaneConfig",
-    # IMU
-    "AddImu",
-    "GetImu",
-    "GetImuResponse",
-    "GetImuSample",
-    "ImuConfig",
-    # Joint
-    "AddJoint",
-    "GetJoint",
-    "GetJointResponse",
-    "JointAxis",
-    "JointConfig",
-    "JointType",
-    # Light
-    "AddLight",
-    "DisableLight",
-    "EnableLight",
-    "GetLight",
-    "GetLightResponse",
-    "LightConfig",
-    "LightType",
-    "SetLightColor",
-    "SetLightIntensity",
-    # PIR Sensor
-    "AddPirSensor",
-    "GetPirDetectionStatus",
-    "GetPirSensor",
-    "GetPirSensorResponse",
-    "PirSensorConfig",
-    "PirStatus",
-    "SetPirDebugMode",
-    "SetPirMaterial",
-    # Radar
-    "AddRadar",
-    "BufferRadarRead",
-    "GetBufferedRadarRead",
-    "GetRadar",
-    "GetRadarResponse",
-    "GetRadarScan",
-    "RadarConfig",
-    # Rigid Body
-    "AddRigidBody",
-    "ApplyForce",
-    "ApplyForceAtPosition",
-    "ApplyTorque",
-    "BodyCenterOfMass",
-    "BodyDistance",
-    "BodyInertia",
-    "BodyMass",
-    "BodyType",
-    "BodyVelocity",
-    "BoundingBox",
-    "DisableGravity",
-    "DisablePhysics",
-    "EnableGravity",
-    "EnablePhysics",
-    "GetBodyBoundingBox",
-    "GetBodyCenterOfMass",
-    "GetBodyInertia",
-    "GetBodyMass",
-    "GetBodyVelocity",
-    "GetDistanceBetweenBodies",
-    "GetRigidBody",
-    "GetRigidBodyResponse",
-    "RigidBodyConfig",
-    "SetBodyVelocity",
-    # Viewport
-    "SetActiveViewportCamera",
-    "SetCameraView",
-    # XForm
-    "AddXForm",
-    "GetXForm",
-    "GetXFormResponse",
-    "SetXformVisibility",
-    # Basis Curve
-    "AddBasisCurveSemiCircle",
-    "GetBasisCurve",
-    "GetBasisCurveResponse",
-    "GetBasisCurveExtents",
-    "GetBasisCurveExtentsResponse",
-    "SetBasisCurveVisibility",
-    "GetBasisCurvePoints",
-    "GetBasisCurvePointsResponse",
-    "RemoveBasisCurve",
-    # Animation
-    "AddAnimationFromWaypoints",
-    "AddAnimationFromBasisCurve",
-    "UpdateAnimationWaypoints",
-    "UpdateAnimationBasisCurve",
-    "GetAnimation",
-    "GetAnimationResponse",
-    "RemoveAnimation",
-]