antioch-py 2.2.4__py3-none-any.whl → 3.0.0__py3-none-any.whl

antioch/__init__.py

@@ -0,0 +1,101 @@
+from antioch.clock import Clock
+from antioch.execution import Execution
+from antioch.input import NodeInputBuffer
+from antioch.module import Module
+from antioch.node import Node
+from common.ark import Environment
+from common.ark.token import Token, TokenType
+from common.message import (
+    Array,
+    Bool,
+    CameraInfo,
+    CircleAnnotation,
+    Color,
+    DeserializationError,
+    Float,
+    FrameTransform,
+    FrameTransforms,
+    Image,
+    ImageAnnotations,
+    ImageEncoding,
+    Int,
+    JointState,
+    JointStates,
+    JointTarget,
+    JointTargets,
+    Log,
+    LogLevel,
+    Message,
+    MessageError,
+    MismatchError,
+    Point2,
+    Point3,
+    PointCloud,
+    PointsAnnotation,
+    PointsAnnotationType,
+    Pose,
+    Quaternion,
+    RadarScan,
+    SerializationError,
+    String,
+    TextAnnotation,
+    Vector2,
+    Vector3,
+)
+
+__all__ = [
+    # Core
+    "Clock",
+    "Environment",
+    "Execution",
+    "Module",
+    "Node",
+    "NodeInputBuffer",
+    "Token",
+    "TokenType",
+    # Base types
+    "Message",
+    "MessageError",
+    "DeserializationError",
+    "SerializationError",
+    "MismatchError",
+    # Primitive types
+    "Array",
+    "Bool",
+    "Float",
+    "Int",
+    "String",
+    # Geometry types
+    "Point2",
+    "Point3",
+    "Vector2",
+    "Vector3",
+    "Pose",
+    "Quaternion",
+    # Color
+    "Color",
+    # Camera types
+    "CameraInfo",
+    "Image",
+    "ImageEncoding",
+    # Joint types
+    "JointState",
+    "JointStates",
+    "JointTarget",
+    "JointTargets",
+    # Sensor types
+    "RadarScan",
+    "PointCloud",
+    # Logging
+    "Log",
+    "LogLevel",
+    # Annotations
+    "CircleAnnotation",
+    "ImageAnnotations",
+    "PointsAnnotation",
+    "PointsAnnotationType",
+    "TextAnnotation",
+    # Frame transforms
+    "FrameTransform",
+    "FrameTransforms",
+]

antioch/{module/execution.py → execution.py}

@@ -1,9 +1,9 @@
 import time
 from typing import TypeVar, overload
 
-from antioch.module.token import Token, TokenType
 from common.ark.module import ModuleParameter
 from common.ark.node import NodeOutput
+from common.ark.token import Token, TokenType
 from common.message import Image, ImuSample, JointStates, JointTargets, Message, PirStatus, RadarScan
 from common.utils.logger import Logger
 from common.utils.time import now_us

antioch/{module/input.py → input.py}

@@ -3,12 +3,10 @@ from threading import Lock
 import zenoh
 from sortedcontainers import SortedDict
 
-from antioch.module.token import Token, TokenType
 from common.ark.node import NodeInput
+from common.ark.token import ARK_TOKEN_PATH, Token, TokenType
 from common.utils.comms import CommsSession
 
-TOKEN_INPUT_PATH = "_token/{path}"
-
 
 class NodeInputBuffer:
     """
@@ -33,7 +31,7 @@ class NodeInputBuffer:
         self._tokens: SortedDict[tuple[int, str, str], Token] = SortedDict()
 
         # Subscribe to token path with callback
-        path = TOKEN_INPUT_PATH.format(path=config.path)
+        path = ARK_TOKEN_PATH.format(path=config.path)
         self._subscriber = comms.declare_callback_subscriber(path, self._on_token)
 
     def close(self) -> None:

antioch/{module/module.py → module.py}

@@ -4,35 +4,17 @@ import signal
 import threading
 from collections.abc import Callable
 
-from antioch.module.execution import Execution
-from antioch.module.node import Node
+from antioch.execution import Execution
+from antioch.node import Node
 from common.ark.ark import Ark, Environment
-from common.ark.module import ModuleParameter
-from common.message import Message
+from common.ark.module import ModuleParameter, ModuleReady, ModuleStart
 from common.utils.comms import CommsSession
 from common.utils.logger import Logger
 from common.utils.time import now_us
 
-AGENT_MODULE_READY_PATH = "_agent/module_ready"
-AGENT_MODULE_START_PATH = "_agent/module_start"
-
-
-class ModuleReady(Message):
-    """
-    Module ready message sent during handshake.
-    """
-
-    _type = "antioch/agent/module_ready"
-    module_name: str
-
-
-class ModuleStart(Message):
-    """
-    Module start message received during handshake.
-    """
-
-    _type = "antioch/agent/module_start"
-    global_start_time_us: int
+# Synchronization paths for module coordination
+ARK_MODULE_READY_PATH = "_ark/module_ready"
+ARK_MODULE_START_PATH = "_ark/module_start"
 
 
 class Module:
@@ -41,8 +23,8 @@ class Module:
     mode of operation:
 
     > Container Mode (default): The module runs inside a Kubernetes pod managed by the
-    Antioch agent. Configuration is automatically loaded from environment variables
-    set by the agent (_MODULE_NAME, _ARK, _ENVIRONMENT, _DEBUG).
+    Antioch runtime. Configuration is automatically loaded from environment variables
+    (_MODULE_NAME, _ARK, _ENVIRONMENT, _DEBUG).
 
     > Local Mode: The module runs standalone for testing and development. Configuration
     must be explicitly provided via constructor parameters (module_name, ark, environment,
@@ -53,8 +35,8 @@ class Module:
     before registering node callbacks.
 
     Users register node callbacks via register() and then call spin() to start execution.
-    The Ark will not start until spin() is called, which begins the handshake with the
-    agent and starts processing node callbacks.
+    The Ark will not start until spin() is called, which begins the synchronization
+    handshake and starts processing node callbacks.
 
     Example:
         # Container mode
@@ -142,8 +124,8 @@ class Module:
         """
 
         comms = CommsSession()
-        logger = Logger(comms, self.module_name, debug=self.debug, print_logs=True)
-        global_start_time_us = now_us() if self._is_local_mode else self._perform_agent_handshake(comms)
+        logger = Logger(base_channel=self.module_name, debug=self.debug, print_logs=True)
+        global_start_time_us = now_us() if self._is_local_mode else self._perform_startup_handshake(comms)
 
         # Validate node callbacks
         for node_name in self._node_callbacks:
@@ -174,6 +156,7 @@ class Module:
         self._shutdown_event.wait()
 
         logger.info("Module exiting")
+        logger.close()
         comms.close()
 
     def join(self, timeout: float | None = None) -> None:
@@ -190,9 +173,9 @@ class Module:
         for node in self._nodes.values():
             node.join(timeout=timeout)
 
-    def _perform_agent_handshake(self, comms: CommsSession) -> int:
+    def _perform_startup_handshake(self, comms: CommsSession) -> int:
         """
-        Perform handshake with agent to receive global start time.
+        Perform startup handshake to receive global start time.
 
         Publishes ready message and blocks waiting for start message containing
         the global start time for synchronization.
@@ -201,8 +184,8 @@ class Module:
         :return: Global start time in microseconds.
         """
 
-        ready_publisher = comms.declare_publisher(AGENT_MODULE_READY_PATH)
-        start_subscriber = comms.declare_subscriber(AGENT_MODULE_START_PATH)
+        ready_publisher = comms.declare_publisher(ARK_MODULE_READY_PATH)
+        start_subscriber = comms.declare_subscriber(ARK_MODULE_START_PATH)
         ready_publisher.publish(ModuleReady(module_name=self.module_name))
         start_msg = start_subscriber.recv(ModuleStart)
         return start_msg.global_start_time_us

antioch/{module/node.py → node.py}

@@ -2,22 +2,21 @@ import traceback
 from collections.abc import Callable
 from threading import Event, Thread
 
-from antioch.module.clock import Clock
-from antioch.module.execution import Execution
-from antioch.module.input import NodeInputBuffer
-from antioch.module.token import Token, TokenType
+from antioch.clock import Clock
+from antioch.execution import Execution
+from antioch.input import NodeInputBuffer
 from common.ark.ark import Environment
 from common.ark.module import Module
-from common.ark.node import Node as NodeConfig
-from common.ark.scheduler import InputToken, NodeEdge, NodeStartEvent, OnlineScheduler
-from common.ark.sim import SimNodeComplete, SimNodeStart
+from common.ark.node import Node as NodeConfig, NodeEdge, SimNodeComplete, SimNodeStart
+from common.ark.scheduler import NodeStartEvent, OnlineScheduler
+from common.ark.token import ARK_TOKEN_PATH, InputToken, Token, TokenType
 from common.utils.comms import CommsPublisher, CommsSession
 from common.utils.logger import Logger
 from common.utils.time import now_us
 
-TOKEN_OUTPUT_PATH = "_token/{path}"
-NODE_START_SUBSCRIBER_PATH = "_ark/node_start/{module}/{node}"
-NODE_COMPLETE_PUBLISHER_PATH = "_ark/node_complete/{module}/{node}"
+# Synchronization paths for node coordination
+ARK_NODE_START_PATH = "_ark/node_start/{module}/{node}"
+ARK_NODE_COMPLETE_PATH = "_ark/node_complete/{module}/{node}"
 
 
 class Node:
@@ -67,8 +66,8 @@ class Node:
         self._callback = callback
 
         self._comms = CommsSession()
-        self._logger = Logger(self._comms, module_name, debug=debug, print_logs=True)
-        self._execution_logger = Logger(self._comms, module_name, debug=debug, print_logs=True)
+        self._logger = Logger(base_channel=module_name, debug=debug, print_logs=True)
+        self._execution_logger = Logger(base_channel=module_name, debug=debug, print_logs=True)
         self._shutdown_requested = Event()
 
         # Create input buffers for all inputs
@@ -79,7 +78,7 @@ class Node:
         # Create output publishers for all outputs
         self._output_publishers: dict[str, CommsPublisher] = {}
         for output_name, output_config in node_config.outputs.items():
-            path = TOKEN_OUTPUT_PATH.format(path=output_config.path)
+            path = ARK_TOKEN_PATH.format(path=output_config.path)
             self._output_publishers[output_name] = self._comms.declare_publisher(path)
 
         # Create reusable execution context
@@ -115,7 +114,9 @@ class Node:
         for publisher in self._output_publishers.values():
             publisher.close()
 
-        # Close comms session
+        # Close loggers and comms session
+        self._logger.close()
+        self._execution_logger.close()
         self._comms.close()
 
     def join(self, timeout: float | None = None) -> None:
@@ -135,8 +136,8 @@ class Node:
         for shutdown events.
         """
 
-        start_path = NODE_START_SUBSCRIBER_PATH.format(module=self._module_name, node=self._node_name)
-        complete_path = NODE_COMPLETE_PUBLISHER_PATH.format(module=self._module_name, node=self._node_name)
+        start_path = ARK_NODE_START_PATH.format(module=self._module_name, node=self._node_name)
+        complete_path = ARK_NODE_COMPLETE_PATH.format(module=self._module_name, node=self._node_name)
         start_subscriber = self._comms.declare_async_subscriber(start_path)
         complete_publisher = self._comms.declare_publisher(complete_path)
 

{antioch_py-2.2.4.dist-info → antioch_py-3.0.0.dist-info}/METADATA

@@ -1,23 +1,24 @@
 Metadata-Version: 2.4
 Name: antioch-py
-Version: 2.2.4
-Summary: The Antioch Python SDK
+Version: 3.0.0
+Summary: Antioch Python Module SDK
 Author-email: Antioch Robotics <support@antioch.dev>
 License-Expression: MIT
 Project-URL: Homepage, https://antioch.com
-Keywords: robotics,simulation,middleware,sdk
+Keywords: robotics,simulation,middleware,sdk,modules
 Classifier: Development Status :: 4 - Beta
 Classifier: Intended Audience :: Developers
 Classifier: Programming Language :: Python :: 3
 Classifier: Programming Language :: Python :: 3.12
 Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
 Classifier: Topic :: Software Development :: Libraries :: Python Modules
-Requires-Python: <3.13,>=3.12
+Requires-Python: <3.13,>=3.10
 Description-Content-Type: text/markdown
+License-File: LICENSE
 Requires-Dist: click>=8.0.0
-Requires-Dist: click>=8.3.0
+Requires-Dist: docker>=7.0.0
 Requires-Dist: eclipse-zenoh>=1.5.0
-Requires-Dist: google-cloud-artifact-registry>=1.16.1
+Requires-Dist: foxglove-sdk>=0.14.1
 Requires-Dist: httpx>=0.27.0
 Requires-Dist: loguru>=0.7.3
 Requires-Dist: msgpack==1.1.1
@@ -26,13 +27,11 @@ Requires-Dist: numpy==1.26.0
 Requires-Dist: ormsgpack>=1.6.0
 Requires-Dist: pydantic>=2.11.6
 Requires-Dist: pydantic>=2.11.7
-Requires-Dist: python-on-whales>=0.78.0
 Requires-Dist: pyyaml>=6.0.2
-Requires-Dist: requests>=2.32.0
 Requires-Dist: scipy==1.15.3
 Requires-Dist: sortedcontainers-stubs>=2.4.3
 Requires-Dist: sortedcontainers>=2.4.0
-Requires-Dist: tqdm>=4.67.1
+Dynamic: license-file
 
 # antioch-py
 
@@ -78,9 +77,7 @@ ark = scene.add_ark(name="my_robot", version="0.1.0")
 task = Task()
 task.start(mcap_path="/tmp/recording.mcap")
 
-scene.play()
 scene.step(1_000_000)  # step 1 second
-scene.pause()
 
 task.finish(outcome=TaskOutcome.SUCCESS)
 ```

antioch_py-3.0.0.dist-info/RECORD

@@ -0,0 +1,61 @@
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+antioch/clock.py,sha256=54NpvlbkFLtmiLGMXADGCkYbooUaKsDGN-xjjDqq7mw,2026
+antioch/execution.py,sha256=OtKfwpQLcomeB4ggJULnxPyPnI_saB0Q4x5RQ7ME8OE,7991
+antioch/input.py,sha256=KYI6nYRBhZ7hunGV-1LWCikzkLvPqr3KBFWiB555Naw,4291
+antioch/module.py,sha256=C3lW9vLjRdNIo3vJCEdd4Bwz1RYhN0nrREkz25NTBwI,7283
+antioch/node.py,sha256=wL78xzJF2w_bdF5r57QynaC1TsytxgcP2z1JFJyLNAg,14568
+antioch_py-3.0.0.dist-info/licenses/LICENSE,sha256=wR5vy6P03IcUnTO982QeoQxmIhvtE5NjTwza2BFQDmM,1069
+common/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+common/constants.py,sha256=3Zx03p0WtqSinijSEwL2tiCSIMUtwgaWU4GVOLavgco,4148
+common/ark/__init__.py,sha256=y0quQ-0Uia2b8-ASzLmMKttXlc6b1buo86xZ7Bbw56w,1353
+common/ark/ark.py,sha256=RvyWE-40a_TFABq4EE2ggmPubA5Lsgk8ZlrKqCkhDfc,2186
+common/ark/hardware.py,sha256=WuKRdHo-JYRQqTULMiSLw10jTq5fUTXADvxpgfzD7IE,2241
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+common/ark/token.py,sha256=eB2VxLOBtSRQ8G4MCdnMUW38UkC5s8GFnr0_MYGehhU,1183
+common/assets/__init__.py,sha256=We71LsStYI5-hknGd2XHrvHg8G4k1dity887BnI5oPI,102
+common/assets/rigging.usd,sha256=7OmD3537Nw2pfXQd_NEpI4zot5-q5gjzKH1Vrn4Krgs,8256
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+common/core/auth.py,sha256=UBBBjm29YuIpbhwqYs-Osv-Pe1SHUz2jHvVRbePiT4M,8258
+common/core/container.py,sha256=35YZdqMkUqwjeZUvXE0qtHOh_JmU9Hsh2zPnXltmml4,9170
+common/core/registry.py,sha256=nkkyDVLPbzPVLorM0rKW6ZncM4YXPqFLwxncId5EFc0,11329
+common/core/rome.py,sha256=xdy67kx7DeFhvXpS3Bew4bnvIFekntvELNr9mmQwobM,8575
+common/core/telemetry.py,sha256=zRzWLlBlgVY-5LQkDUJsUe-AGco9q1a881eUMyQWsXM,5662
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+common/message/color.py,sha256=fNbJzLwAJAk-9fULZiU4Iiya0HCm9WtUR8XtjOUOnzA,4192
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+common/message/image.py,sha256=HEQO8rXQnbNlRjBLayHYvLW0NYlHSTXkdReQKfK11i8,6907
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+common/message/joint.py,sha256=DmMmwCUy6jpi-XKewsvypmoK3UeCpA8hqnwUUN-5bOA,3242
+common/message/log.py,sha256=GxbwEcLI-ypqsa1caips-xhF7CHUgqh1KtmPVf0HIXY,2061
+common/message/message.py,sha256=kdBEmcHy6R9EV_QbarSwPWZE0n_Sar-gXK8g5ceT2-U,18080
+common/message/pir.py,sha256=kJFQUiVyLY6KRVl72IpysiBOW7Q9_6QMdBGYbMa7tpg,964
+common/message/plot.py,sha256=T0T7fjINx3McLlBefktoTt_RFgOGmd3XRzhHxuS_mWs,1460
+common/message/point.py,sha256=W6QKVA83iht1HeWpEEiYttOiDxLicRm7ZFmrHF4TtRw,3577
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+common/message/vector.py,sha256=eIB1xRg-Jn2IlOzsgcDouof4Qs7MBgl5JMSt2z2aEoY,18425
+common/sim/__init__.py,sha256=N7qknBhXmu9mxbNwF9M7QlgEfmkXzlq8HId671JncPA,964
+common/sim/objects.py,sha256=x1HElot0Sp_cltG-mM34Z3ZVmCx3056uLfj9Md6g89o,21576
+common/sim/state.py,sha256=2JjMmEDu_MZoZKBx6NYCtNdBaWUD7pDIv0mxNew3r0E,197
+common/utils/__init__.py,sha256=9zRb7XayzCGRs4I94hWKJHyQ1MevlUiTzXsPNBLBX7Y,113
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+common/utils/logger.py,sha256=m8DaKzTJJ4vp4VM9IpNtqCbhypF-w1Gwh0x5nsL_hv0,4041
+common/utils/time.py,sha256=kGDzObbaqWOep4vT1Y2W-BheunxdjYBI4V3Nfp4Ck3Q,790
+antioch_py-3.0.0.dist-info/METADATA,sha256=9aOIgRPgFG7hy3nkzCO4D1h4w9C7CztLuoI9Vyrq8As,3396
+antioch_py-3.0.0.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
+antioch_py-3.0.0.dist-info/top_level.txt,sha256=GtzNccsep3YdBt9VXQ7-ZFsFJFffr4hyZvqg0YqRqtw,15
+antioch_py-3.0.0.dist-info/RECORD,,

{antioch_py-2.2.4.dist-info → antioch_py-3.0.0.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (80.9.0)
+Generator: setuptools (80.10.2)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

antioch_py-3.0.0.dist-info/licenses/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024-2026 Antioch
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

common/ark/__init__.py

@@ -1,29 +1,16 @@
-from common.ark.ark import (
-    Ark,
-    ArkInfo,
-    ArkMetadata,
-    ArkReference,
-    ArkVersionReference,
-    AssetReference,
-    AssetVersionReference,
-    Environment,
-    Kinematics,
-)
+from common.ark.ark import Ark, ArkInfo, ArkMetadata, Environment, Kinematics
 from common.ark.hardware import CameraHardware, Hardware, HardwareType, ImuHardware, PirHardware, RadarHardware
 from common.ark.kinematics import Joint, Link
 from common.ark.module import Module, ModuleImage, ModuleInfo, ModuleKind, ModuleParameter, ParamType
 from common.ark.node import HardwareAccessMode, Node, NodeInput, NodeOutput, NodeTimer
-from common.ark.scheduler import InputToken, NodeCompleteEvent, NodeEdge, NodeStartEvent, NodeState, OnlineScheduler, ScheduleEvent
+from common.ark.scheduler import NodeCompleteEvent, NodeEdge, NodeStartEvent, NodeState, OnlineScheduler, ScheduleEvent
+from common.ark.token import InputToken, Token, TokenType
 
 __all__ = [
     # Core Ark types
     "Ark",
     "ArkInfo",
     "ArkMetadata",
-    "AssetReference",
-    "AssetVersionReference",
-    "ArkReference",
-    "ArkVersionReference",
     "Environment",
     "Kinematics",
     # Module types
@@ -57,4 +44,7 @@ __all__ = [
     "ScheduleEvent",
     "NodeState",
     "OnlineScheduler",
+    # Token types
+    "Token",
+    "TokenType",
 ]

common/ark/ark.py

@@ -2,7 +2,7 @@ from enum import Enum
 
 from common.ark.hardware import Hardware
 from common.ark.kinematics import Joint, Link
-from common.ark.module import Module
+from common.ark.module import Module, ModuleImage
 from common.ark.scheduler import NodeEdge
 from common.message import Message
 
@@ -53,56 +53,6 @@ class Kinematics(Message):
     joints: list[Joint]
 
 
-class ArkVersionReference(Message):
-    """
-    Reference to an Ark version in the remote Ark registry.
-    """
-
-    version: str
-    created_at: str
-    updated_at: str
-    full_path: str
-    size_bytes: int
-    asset_path: str | None = None
-    asset_size_bytes: int | None = None
-    metadata: dict[str, str] = {}
-
-
-class ArkReference(Message):
-    """
-    Reference to an Ark in the remote Ark registry.
-    """
-
-    name: str
-    versions: list[ArkVersionReference]
-    created_at: str
-    updated_at: str
-
-
-class AssetVersionReference(Message):
-    """
-    Reference to a specific asset version.
-    """
-
-    version: str
-    full_path: str
-    size_bytes: int
-    created_at: str
-    updated_at: str
-    metadata: dict[str, str] = {}
-
-
-class AssetReference(Message):
-    """
-    Reference to an asset with all its versions.
-    """
-
-    name: str
-    versions: list[AssetVersionReference]
-    created_at: str
-    updated_at: str
-
-
 class Ark(Message):
     """
     Antioch Ark specification.
@@ -117,14 +67,25 @@ class Ark(Message):
     kinematics: Kinematics
     hardware: list[Hardware]
 
-
-if __name__ == "__main__":
-    import argparse
-
-    parser = argparse.ArgumentParser()
-    parser.add_argument("ark_file", type=str, help="The Ark json file to serialize")
-    args = parser.parse_args()
-
-    with open(args.ark_file) as f:
-        ark = Ark.model_validate_json(f.read())
-        print(ark.to_json(2))
+    def collect_image_names(self, environment: Environment | None = None) -> list[str]:
+        """
+        Collect all Docker image names used by modules in this Ark.
+
+        :param environment: Filter images by environment (SIM or REAL). If None, collects all images.
+        :return: List of unique image names sorted alphabetically.
+        """
+
+        images: set[str] = set()
+        for module in self.modules:
+            if isinstance(module.image, str):
+                # Simple string image
+                if module.image:
+                    images.add(module.image)
+            elif isinstance(module.image, ModuleImage):
+                # Hardware module with sim/real images
+                if environment in (None, Environment.SIM) and module.image.sim:
+                    images.add(module.image.sim)
+                if environment in (None, Environment.REAL) and module.image.real:
+                    images.add(module.image.real)
+
+        return sorted(images)

common/ark/hardware.py

@@ -6,7 +6,7 @@ from typing import Annotated, Literal, Union
 from pydantic import Field
 
 from common.message import Message, Pose
-from common.session.config import ArticulationConfig, CameraConfig, ImuConfig, PirSensorConfig, RadarConfig
+from common.sim 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.config import JointAxis, JointType
+from common.sim import JointAxis, JointType
 
 
 class Joint(Message):

common/ark/module.py

@@ -83,3 +83,25 @@ class Module(Message):
     info: ModuleInfo
     parameters: dict[str, ModuleParameter]
     nodes: dict[str, Node]
+
+
+class ModuleReady(Message):
+    """
+    Message sent by a module when it is ready to start.
+
+    Published during agent handshake to signal module initialization complete.
+    """
+
+    _type = "antioch/agent/module_ready"
+    module_name: str
+
+
+class ModuleStart(Message):
+    """
+    Message sent to all modules to signal the global start time.
+
+    Received during agent handshake to synchronize module execution.
+    """
+
+    _type = "antioch/agent/module_start"
+    global_start_time_us: int