antioch-py 2.2.4__py3-none-any.whl → 3.0.1__py3-none-any.whl

common/sim/__init__.py

@@ -0,0 +1,49 @@
+from common.sim.objects import (
+    ArticulationConfig,
+    ArticulationJointConfig,
+    BasisCurveConfig,
+    BodyType,
+    CameraConfig,
+    CameraMode,
+    DistortionModel,
+    GeometryConfig,
+    GeometryType,
+    GroundPlaneConfig,
+    ImuConfig,
+    JointAxis,
+    JointConfig,
+    JointType,
+    LightConfig,
+    LightType,
+    MeshApproximation,
+    PirSensorConfig,
+    RadarConfig,
+    RadarScanParams,
+    RigidBodyConfig,
+)
+from common.sim.state import SimulationState
+
+__all__ = [
+    "ArticulationConfig",
+    "ArticulationJointConfig",
+    "BasisCurveConfig",
+    "BodyType",
+    "CameraConfig",
+    "CameraMode",
+    "DistortionModel",
+    "GeometryConfig",
+    "GeometryType",
+    "GroundPlaneConfig",
+    "ImuConfig",
+    "JointAxis",
+    "JointConfig",
+    "JointType",
+    "LightConfig",
+    "LightType",
+    "MeshApproximation",
+    "PirSensorConfig",
+    "RadarConfig",
+    "RadarScanParams",
+    "RigidBodyConfig",
+    "SimulationState",
+]

common/{session/config.py → sim/objects.py}

@@ -196,14 +196,19 @@ class JointAxis(str, Enum):
 class JointConfig(Message):
     """
     Configuration for a joint object that connects two bodies.
+
+    The joint pivot point is defined by two local poses:
+    - parent_pose: Position/orientation of joint in parent's local frame.
+    - child_pose: Position/orientation of joint in child's local frame.
     """
 
     # 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")
+    # Transforms - defines where joint attaches on each body
+    pose: Pose = Field(default_factory=Pose.identity, description="Joint pose in parent's local frame")
+    child_pose: Pose = Field(default_factory=Pose.identity, description="Joint pose in child's local frame")
 
     # Joint properties
     joint_type: JointType = Field(default=JointType.FIXED, description="Type of joint motion allowed")
@@ -269,7 +274,7 @@ class LightConfig(Message):
 
     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")
+    exposure: float = Field(default=0.0, 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)")
@@ -286,7 +291,7 @@ class GroundPlaneConfig(Message):
 
     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)")
+    color: Vector3 = Field(default_factory=lambda: Vector3(x=0.5, y=0.5, z=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)")
@@ -303,39 +308,82 @@ class ImuConfig(Message):
     orientation_filter_size: int = Field(default=10, description="Filter window size for orientation")
 
 
-class RadarConfig(Message):
+class RadarScanParams(Message):
     """
-    Configuration for RTX radar sensor.
-
-    All parameters can be customized with sensible defaults provided.
+    Per-scan configuration for RTX radar.
     """
 
-    # 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")
 
+    time_offset_usec: int | None = Field(default=None, description="Time offset from frame time in microseconds")
+    vel_resolution: float | None = Field(default=None, description="Velocity resolution in m/s")
+
+    bins_from_spec: bool = Field(default=False, description="Whether to use bins from spec")
+    r_bins: int | None = Field(default=None, description="Number of range bins")
+    v_bins: int | None = Field(default=None, description="Number of velocity bins")
+    az_bins: int | None = Field(default=None, description="Number of azimuth bins")
+    el_bins: int | None = Field(default=None, description="Number of elevation bins")
+
+    cfar_offset: float | None = Field(default=None, description="CFAR threshold offset multiplier")
+    cfar_noise_mean: float | None = Field(default=None, description="CFAR noise mean")
+    cfar_noise_sdev: float | None = Field(default=None, description="CFAR noise standard deviation")
+    cfar_min_val: float | None = Field(default=None, description="CFAR minimum value threshold")
+
+    # CFAR window sizes: _t = training cells, _g = guard cells
+    cfar_rn_t: int | None = Field(default=None, description="CFAR range training cells")
+    cfar_rn_g: int | None = Field(default=None, description="CFAR range guard cells")
+    cfar_vn_t: int | None = Field(default=None, description="CFAR velocity training cells")
+    cfar_vn_g: int | None = Field(default=None, description="CFAR velocity guard cells")
+    cfar_azn_t: int | None = Field(default=None, description="CFAR azimuth training cells")
+    cfar_azn_g: int | None = Field(default=None, description="CFAR azimuth guard cells")
+    cfar_eln_t: int | None = Field(default=None, description="CFAR elevation training cells")
+    cfar_eln_g: int | None = Field(default=None, description="CFAR elevation guard cells")
+
+    rcs_tuning_coefficients: list[float] | None = Field(
+        default=None,
+        description="RCS tuning polynomial coefficients [offset, linear, quadratic]",
+    )
+
+    max_vel_mps_sequence: list[float] | None = Field(
+        default=None,
+        description="Maximum unambiguous velocity sequence in m/s (float array)",
+    )
+
+
+class RadarConfig(Message):
+    """
+    Configuration for RTX radar sensor.
+    """
+
+    frequency: int | None = Field(default=10, description="Sensor update frequency in Hz")
+    scans: list[RadarScanParams] = Field(default_factory=lambda: [RadarScanParams()], description="Per-scan configuration")
+
+    cfar_mode: str | None = Field(default=None, description='CFAR mode (e.g. "2D", "4D")')
+    antenna_gain_mode: str | None = Field(default=None, description='Antenna gain mode (e.g. "COSINEFALLOFF")')
+    instance_time_offset_usec: int | None = Field(default=None, description="Radar instance time offset in microseconds")
+    wavelength_mm: float | None = Field(default=None, description="Operational wavelength in mm (e.g. 5.0 for 60GHz, 3.9 for 77GHz)")
+
+    @property
+    def num_scans(self) -> int:
+        return len(self.scans)
+
 
 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 3-sensor design (center, left, right) with dual elements per sensor.
+    Each PIR prim represents a single sensor (single-sensor model).
     """
 
     # Core sensor parameters
@@ -343,23 +391,15 @@ class PirSensorConfig(Message):
     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")
-    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")
+    horiz_fov_deg: float = Field(default=150.0, description="Horizontal field-of-view in degrees")
+    vert_fov_deg: float = Field(default=60.0, description="Vertical field-of-view in degrees (symmetric)")
 
     # 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")
+    gain: float = Field(default=0.015, description="Amplifier gain")
     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")
@@ -388,3 +428,33 @@ class PirSensorConfig(Message):
     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 BasisCurveConfig(Message):
+    """
+    Configuration for creating basis curves in simulation.
+
+    Supports two curve types:
+    - semi_circle: Creates an arc around a center point
+    - line: Creates a straight line between two points
+    """
+
+    # Curve type
+    curve_type: str = Field(default="line", description="Type of curve: 'semi_circle' or 'line'")
+
+    # Common parameters
+    guide: bool = Field(default=False, description="If True, curve is invisible to cameras")
+    color: Vector3 | None = Field(default=None, description="RGB color (0-1 range)")
+    width: float = Field(default=0.005, description="Width of the curve")
+
+    # Semi-circle parameters
+    center: Vector3 | None = Field(default=None, description="Center point for semi-circle")
+    radius: float | None = Field(default=None, description="Radius for semi-circle")
+    min_angle_deg: float | None = Field(default=None, description="Start angle in degrees for semi-circle")
+    max_angle_deg: float | None = Field(default=None, description="End angle in degrees for semi-circle")
+
+    # Line parameters (either end point OR angle_deg+length)
+    start: Vector3 | None = Field(default=None, description="Start point for line")
+    end: Vector3 | None = Field(default=None, description="End point for line")
+    angle_deg: float | None = Field(default=None, description="Angle in degrees for line (from start)")
+    length: float | None = Field(default=None, description="Length for line (with angle_deg)")

common/sim/state.py

@@ -0,0 +1,11 @@
+from enum import Enum
+
+
+class SimulationState(str, Enum):
+    """
+    Represents the current state of the simulation.
+    """
+
+    PLAYING = "playing"
+    PAUSED = "paused"
+    STOPPED = "stopped"

common/utils/comms.py

@@ -1,12 +1,12 @@
 from __future__ import annotations
 
-import os
 from collections.abc import Callable
 from threading import Event
 from typing import Any, TypeVar
 
 import zenoh
 
+from common.constants import SHM_ENABLED, SHM_MESSAGE_SIZE_THRESHOLD_BYTES, SHM_POOL_SIZE_BYTES
 from common.message import Message
 
 DEFAULT_COMMS_SUBSCRIBER_RING_DEPTH = 4096
@@ -25,16 +25,38 @@ class CommsSession:
     def __init__(self):
         """
         Create a new communication session.
-        """
 
-        # Get router endpoint from environment or use localhost default
-        router_endpoint = os.environ.get("ZENOH_ROUTER_ENDPOINT", "tcp/127.0.0.1:7447")
+        Uses peer mode with multicast discovery on the loopback interface for
+        automatic peer discovery without requiring a router.
+        """
 
         self.config = zenoh.Config()
+
+        # Enable peer mode (no Zenoh router)
         self.config.insert_json5("mode", '"peer"')
-        self.config.insert_json5("listen/endpoints", '["tcp/0.0.0.0:0"]')
-        self.config.insert_json5("scouting/multicast/enabled", "false")
-        self.config.insert_json5("connect/endpoints", f'["{router_endpoint}"]')  # Discovery via router
+
+        # Enable multicast discovery on loopback interface for peer discovery
+        self.config.insert_json5("scouting/multicast/enabled", "true")
+        self.config.insert_json5("scouting/multicast/interface", '"lo"')
+        self.config.insert_json5("listen/endpoints", '["tcp/127.0.0.1:0"]')
+
+        # Enable shared memory transport for high-performance IPC
+        # Falls back to TCP automatically when SHM is not available
+        if SHM_ENABLED:
+            self.config.insert_json5("transport/shared_memory/enabled", "true")
+            self.config.insert_json5(
+                "transport/shared_memory/transport_optimization/enabled",
+                "true",
+            )
+            self.config.insert_json5(
+                "transport/shared_memory/transport_optimization/pool_size",
+                str(SHM_POOL_SIZE_BYTES),
+            )
+            self.config.insert_json5(
+                "transport/shared_memory/transport_optimization/message_size_threshold",
+                str(SHM_MESSAGE_SIZE_THRESHOLD_BYTES),
+            )
+
         self.session = zenoh.open(self.config)
 
     def __del__(self) -> None:
@@ -91,11 +113,7 @@ class CommsSession:
 
         return CommsAsyncSubscriber(self.session, path)
 
-    def declare_callback_subscriber(
-        self,
-        path: str,
-        callback: Callable[[zenoh.Sample], None],
-    ) -> zenoh.Subscriber[None]:
+    def declare_callback_subscriber(self, path: str, callback: Callable[[zenoh.Sample], None]) -> zenoh.Subscriber[None]:
         """
         Create a new callback subscriber for the given path.
 

common/utils/logger.py

@@ -1,29 +1,36 @@
+import re
+
 from common.message import Log, LogLevel, Message
 from common.utils.comms import CommsSession
 
+# Valid channel pattern: alphanumeric, underscore, hyphen, period, slash
+# Must start with alphanumeric, cannot have consecutive slashes or end with slash
+CHANNEL_PATTERN = re.compile(r"^[a-zA-Z0-9](?:[a-zA-Z0-9_.\-]*(?:/[a-zA-Z0-9][a-zA-Z0-9_.\-]*)*)?$")
+
 
 class Logger:
     """
     Logger that publishes structured logs to the communication system.
+
+    Creates its own Zenoh session for publishing logs.
     """
 
     def __init__(
         self,
-        comms: CommsSession,
         base_channel: str | None = None,
         debug: bool = False,
-        print_logs: bool = False,
+        print_logs: bool = True,
     ) -> None:
         """
         Initialize the logger.
 
-        :param comms: Comms session.
         :param base_channel: Optional base channel for logs and telemetry.
         :param debug: Whether to run in debug mode.
         :param print_logs: Whether to print logs to stdout.
         """
 
-        self._log_publisher = comms.declare_publisher("_logs")
+        self._comms = CommsSession()
+        self._log_publisher = self._comms.declare_publisher("_logs")
         self._base_channel = base_channel
         self._debug = debug
         self._print_logs = print_logs
@@ -79,12 +86,16 @@ class Logger:
         """
         Record telemetry data from a Message or a JSON-serializable dictionary.
 
-        :param channel: Telemetry channel (alphanumeric, underscore, hyphen, period, slash).
+        :param channel: Telemetry channel (alphanumeric with underscore/hyphen/period/slash).
         :param telemetry: The message or dict to record.
+        :raises ValueError: If channel format is invalid.
         """
 
-        if not all(c.isalnum() or c in ("_", "-", ".", "/") for c in channel):
-            raise ValueError(f"Invalid channel format: {channel}")
+        if not CHANNEL_PATTERN.match(channel):
+            raise ValueError(
+                f"Invalid channel '{channel}': must be alphanumeric with underscore/hyphen/period/slash, "
+                "start and end with alphanumeric, no consecutive slashes"
+            )
 
         # Pack telemetry data based on type
         if isinstance(telemetry, Message):
@@ -102,6 +113,14 @@ class Logger:
             )
         )
 
+    def close(self) -> None:
+        """
+        Close the logger and release resources.
+        """
+
+        self._log_publisher.close()
+        self._comms.close()
+
     def _log(self, level: LogLevel, message: str) -> None:
         """
         Send a log message through Zenoh.

antioch/message.py

@@ -1,87 +0,0 @@
-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,
-    RadarDetection,
-    RadarScan,
-    SerializationError,
-    String,
-    TextAnnotation,
-    Vector2,
-    Vector3,
-)
-
-__all__ = [
-    # 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
-    "RadarDetection",
-    "RadarScan",
-    "PointCloud",
-    # Logging
-    "Log",
-    "LogLevel",
-    # Annotations
-    "CircleAnnotation",
-    "ImageAnnotations",
-    "PointsAnnotation",
-    "PointsAnnotationType",
-    "TextAnnotation",
-    # Frame transforms
-    "FrameTransform",
-    "FrameTransforms",
-]

antioch/module/__init__.py

@@ -1,53 +0,0 @@
-from antioch.module.clock import Clock, now_us
-from antioch.module.execution import Execution, Input, Output
-from antioch.module.module import Module
-from antioch.module.token import Token, TokenType
-from common.ark import Environment, HardwareAccessMode
-from common.message import (
-    CameraInfo,
-    Image,
-    ImageEncoding,
-    ImuSample,
-    JointState,
-    JointStates,
-    JointTarget,
-    JointTargets,
-    Message,
-    Pose,
-    Quaternion,
-    RadarDetection,
-    RadarScan,
-    Vector3,
-)
-
-__all__ = [
-    # Core module types
-    "Module",
-    "Execution",
-    "Input",
-    "Output",
-    # Token types
-    "Token",
-    "TokenType",
-    # Timing
-    "Clock",
-    "now_us",
-    # Enums
-    "Environment",
-    "HardwareAccessMode",
-    # Message types
-    "Message",
-    "CameraInfo",
-    "Image",
-    "ImageEncoding",
-    "ImuSample",
-    "JointState",
-    "JointStates",
-    "JointTarget",
-    "JointTargets",
-    "Pose",
-    "Quaternion",
-    "RadarDetection",
-    "RadarScan",
-    "Vector3",
-]