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

common/session/views/ground_plane.py

@@ -1,41 +0,0 @@
-from pydantic import Field
-
-from common.message import Message, Vector3
-
-
-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 GetGroundPlane(Message):
-    """
-    Get an existing ground plane.
-    """
-
-    path: str | None = Field(default=None, description="USD path of the ground plane prim")
-
-
-class GetGroundPlaneResponse(Message):
-    """
-    Response from getting a ground plane.
-    """
-
-    path: str
-
-
-class AddGroundPlane(Message):
-    """
-    Add a ground plane.
-    """
-
-    path: str = Field(description="USD path for the ground plane")
-    config: GroundPlaneConfig

common/session/views/imu.py

@@ -1,66 +0,0 @@
-from pydantic import Field
-
-from common.message import Message, Pose
-
-
-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 GetImu(Message):
-    """
-    Get an existing IMU sensor.
-    """
-
-    path: str | None = Field(default=None, description="USD path of the IMU prim")
-
-
-class GetImuResponse(Message):
-    """
-    Response from getting an IMU.
-    """
-
-    path: str
-
-
-class AddImu(Message):
-    """
-    Add an IMU sensor.
-    """
-
-    path: str = Field(description="USD path for the IMU")
-    config: ImuConfig
-    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 GetImuSample(Message):
-    """
-    Get IMU sensor sample.
-    """
-
-    path: str
-
-
-class BufferImuRead(Message):
-    """
-    Request to buffer current IMU data at simulation time.
-    """
-
-    path: str
-
-
-class GetBufferedImuRead(Message):
-    """
-    Request to get buffered IMU data at or before simulation time.
-    """
-
-    path: str
-    read_sim_time: float

common/session/views/joint.py

@@ -1,81 +0,0 @@
-from enum import Enum
-
-from pydantic import Field
-
-from common.message import Message, Pose
-
-
-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 GetJoint(Message):
-    """
-    Get an existing joint.
-    """
-
-    path: str | None = Field(default=None, description="USD path of the joint prim")
-
-
-class GetJointResponse(Message):
-    """
-    Response from getting a joint.
-    """
-
-    path: str
-
-
-class AddJoint(Message):
-    """
-    Add a joint connecting two bodies.
-    """
-
-    path: str = Field(description="USD path for the joint")
-    config: JointConfig

common/session/views/light.py

@@ -1,96 +0,0 @@
-from enum import Enum
-
-from pydantic import Field
-
-from common.message import Message, Pose, Vector3
-
-
-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 GetLight(Message):
-    """
-    Get an existing light source.
-    """
-
-    path: str | None = Field(default=None, description="USD path of the light prim")
-
-
-class GetLightResponse(Message):
-    """
-    Response from getting a light.
-    """
-
-    path: str
-
-
-class AddLight(Message):
-    """
-    Add a light source.
-    """
-
-    path: str = Field(description="USD path for the light")
-    config: LightConfig
-    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 SetLightIntensity(Message):
-    """
-    Set light intensity.
-    """
-
-    path: str
-    intensity: float
-
-
-class SetLightColor(Message):
-    """
-    Set light color.
-    """
-
-    path: str
-    color: Vector3
-
-
-class EnableLight(Message):
-    """
-    Enable light.
-    """
-
-    path: str
-
-
-class DisableLight(Message):
-    """
-    Disable light.
-    """
-
-    path: str

common/session/views/material.py

@@ -1,25 +0,0 @@
-from pydantic import Field
-
-from common.message import Message
-
-
-class SetNonVisualMaterial(Message):
-    """
-    Set non-visual material properties on all Material prims in a subtree.
-
-    These properties define how objects appear to RTX sensors (LiDAR and Radar).
-    Based on Isaac Sim's isaacsim.sensors.rtx.nonvisual_materials system.
-    """
-
-    path: str = Field(description="USD path of the root prim to configure")
-    base: str = Field(description="Base material type (e.g. 'aluminum', 'skin', 'plastic')")
-    coating: str = Field(default="none", description="Coating type (e.g. 'none', 'paint', 'clearcoat')")
-    attribute: str = Field(default="none", description="Material attribute (e.g. 'none', 'emissive', 'retroreflective')")
-
-
-class SetNonVisualMaterialResponse(Message):
-    """
-    Response from setting non-visual material.
-    """
-
-    materials_modified: int = Field(description="Number of Material prims modified")

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")