antioch-py 2.1.0__py3-none-any.whl → 2.2.1__py3-none-any.whl

antioch/session/objects/basis_curve.py

@@ -54,6 +54,9 @@ class BasisCurve(SessionContainer):
         radius: float = 1.0,
         min_angle_deg: float = 0.0,
         max_angle_deg: float = 180.0,
+        guide: bool = False,
+        color: Vector3 | None = None,
+        width: float = 0.005,
     ) -> "BasisCurve":
         """
         Add a semi-circle basis curve to the scene.
@@ -63,12 +66,24 @@ class BasisCurve(SessionContainer):
         :param radius: Radius of the basis curve.
         :param min_angle_deg: Minimum angle of the basis curve in degrees.
         :param max_angle_deg: Maximum angle of the basis curve in degrees.
+        :param guide: If True, mark as guide purpose (invisible to cameras). If False, default purpose.
+        :param color: Optional RGB color [0-1].
+        :param width: Width of the curve.
         :return: The basis curve instance.
         """
 
         Session.get_current().query_sim_rpc(
             endpoint="basis_curve/add_semi_circle",
-            payload={"path": path, "center": center, "radius": radius, "min_angle_deg": min_angle_deg, "max_angle_deg": max_angle_deg},
+            payload={
+                "path": path,
+                "center": center,
+                "radius": radius,
+                "min_angle_deg": min_angle_deg,
+                "max_angle_deg": max_angle_deg,
+                "guide": guide,
+                "color": color,
+                "width": width,
+            },
         )
         return cls(path)
 
@@ -80,6 +95,9 @@ class BasisCurve(SessionContainer):
         end: Vector3 | None = None,
         angle_deg: float | None = None,
         length: float | None = None,
+        guide: bool = False,
+        color: Vector3 | None = None,
+        width: float = 0.005,
     ) -> "BasisCurve":
         """
         Add a line basis curve to the scene.
@@ -93,13 +111,25 @@ class BasisCurve(SessionContainer):
         :param end: End point of the line (Cartesian mode).
         :param angle_deg: Angle in degrees from +X axis in XY plane (polar mode).
         :param length: Length of the line (polar mode).
+        :param guide: If True, mark as guide purpose (invisible to cameras). If False, default purpose.
+        :param color: Optional RGB color [0-1].
+        :param width: Width of the curve.
         :return: The basis curve instance.
         :raises ValueError: If both modes are specified or neither mode is complete.
         """
 
         Session.get_current().query_sim_rpc(
             endpoint="basis_curve/add_line",
-            payload={"path": path, "start": start, "end": end, "angle_deg": angle_deg, "length": length},
+            payload={
+                "path": path,
+                "start": start,
+                "end": end,
+                "angle_deg": angle_deg,
+                "length": length,
+                "guide": guide,
+                "color": color,
+                "width": width,
+            },
         )
         return cls(path)
 

antioch/session/scene.py

@@ -415,6 +415,15 @@ class Scene(SessionContainer):
             payload={"root_path": root_path, "target": target},
         )
 
+    def delete_prim(self, path: str) -> None:
+        """
+        Delete a prim from the scene.
+
+        :param path: USD path for the prim to delete.
+        """
+
+        self._session.query_sim_rpc(endpoint="scene/delete_prim", payload={"path": path})
+
     def add_asset(
         self,
         path: str,
@@ -1150,6 +1159,9 @@ class Scene(SessionContainer):
         radius: float = 1.0,
         min_angle_deg: float = 0.0,
         max_angle_deg: float = 180.0,
+        guide: bool = False,
+        color: Vector3 | list[float] | tuple[float, float, float] | None = None,
+        width: float = 0.005,
     ) -> BasisCurve:
         """
         Add a basis curve semi-circle to the scene.
@@ -1159,6 +1171,9 @@ class Scene(SessionContainer):
         :param radius: Radius of the basis curve.
         :param min_angle_deg: Minimum angle of the basis curve in degrees.
         :param max_angle_deg: Maximum angle of the basis curve in degrees.
+        :param guide: If True, mark as guide purpose (invisible to cameras). If False, default purpose.
+        :param color: Optional RGB color [0-1].
+        :param width: Width of the curve.
         :return: The basis curve instance.
         """
 
@@ -1168,6 +1183,9 @@ class Scene(SessionContainer):
             radius=radius,
             min_angle_deg=min_angle_deg,
             max_angle_deg=max_angle_deg,
+            guide=guide,
+            color=Vector3.from_any(color) if color is not None else None,
+            width=width,
         )
 
     @overload
@@ -1177,6 +1195,9 @@ class Scene(SessionContainer):
         *,
         start: Vector3 | list[float] | tuple[float, float, float],
         end: Vector3 | list[float] | tuple[float, float, float],
+        guide: bool = False,
+        color: Vector3 | list[float] | tuple[float, float, float] | None = None,
+        width: float = 0.005,
     ) -> BasisCurve: ...
 
     @overload
@@ -1187,6 +1208,9 @@ class Scene(SessionContainer):
         start: Vector3 | list[float] | tuple[float, float, float],
         angle_deg: float,
         length: float,
+        guide: bool = False,
+        color: Vector3 | list[float] | tuple[float, float, float] | None = None,
+        width: float = 0.005,
     ) -> BasisCurve: ...
 
     def add_basis_curve_line(
@@ -1197,6 +1221,9 @@ class Scene(SessionContainer):
         end: Vector3 | list[float] | tuple[float, float, float] | None = None,
         angle_deg: float | None = None,
         length: float | None = None,
+        guide: bool = False,
+        color: Vector3 | list[float] | tuple[float, float, float] | None = None,
+        width: float = 0.005,
     ) -> BasisCurve:
         """
         Add a basis curve line to the scene.
@@ -1226,6 +1253,9 @@ class Scene(SessionContainer):
         :param end: End point of the line (Cartesian mode).
         :param angle_deg: Angle in degrees from +X axis in XY plane (polar mode).
         :param length: Length of the line (polar mode).
+        :param guide: If True, mark as guide purpose (invisible to cameras). If False, default purpose.
+        :param color: Optional RGB color [0-1].
+        :param width: Width of the curve.
         :return: The basis curve instance.
         :raises ValueError: If both modes are specified or neither mode is complete.
         """
@@ -1244,6 +1274,9 @@ class Scene(SessionContainer):
             end=Vector3.from_any(end) if end is not None else None,
             angle_deg=angle_deg,
             length=length,
+            guide=guide,
+            color=Vector3.from_any(color) if color is not None else None,
+            width=width,
         )
 
     def get_basis_curve(self, path: str) -> BasisCurve:

{antioch_py-2.1.0.dist-info → antioch_py-2.2.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: antioch-py
-Version: 2.1.0
+Version: 2.2.1
 Summary: The Antioch Python SDK
 Author-email: Antioch Robotics <support@antioch.dev>
 License-Expression: MIT

{antioch_py-2.1.0.dist-info → antioch_py-2.2.1.dist-info}/RECORD

@@ -12,13 +12,13 @@ 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=LVUqNZc_PonI8X6tg5rrKSTv3zqdAQERt-QOk-g4MhA,58585
+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=7LD7B92Ohr2bPm5Lh76NaMbFRiHFcUIxaKjWcMYtykc,4954
+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
@@ -31,9 +31,9 @@ antioch/session/objects/radar.py,sha256=BXl8OzngiY_urBRBB7kAlBHvtpR9aosWv7nuYcKS
 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/constants.py,sha256=0jsX0pWUklL9UNLK4_rzGuo53qFWZX1_PIw9j2aKDnU,1652
 common/ark/__init__.py,sha256=Lu2lJ5k7-vN6ZGeX2sYhRwzXEyt9kCyXtgsyvdIaCiU,1472
-common/ark/ark.py,sha256=rToMvtpu634ylJbEfYlTD13Cb3udF_S4SfI8xQsL1P4,2376
+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
@@ -43,7 +43,7 @@ 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=TeJIhYm8buQLAkl3jORuGV03pP1MNOhetHunE9z2nsM,9347
+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
@@ -78,8 +78,8 @@ 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-2.1.0.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,,
+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/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/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"