fastsim.api.scene

class Pose(object)

One right-handed SI pose expressed in the explicitly named frame.

class Twist(object)

Linear and angular velocity expressed in one explicitly named frame.

class EntityDescriptor(object)

Path-free static facts for one compiled scene entity.

class LinkDescriptor(object)

Backend-neutral relationship facts for one articulation or rigid link.

class JointDescriptor(object)

One physical scalar articulation axis in declared execution order.

class ArticulationDescriptor(object)

Ordered physical joint facts for any articulation, robot or otherwise.

class SceneQuery(object)

A bounded, deterministic intersection filter for scene reads.

class SceneCatalogSnapshot(object)

Immutable deterministic static scene projection for one generation.

class EntityState(object)

Dynamic state of the entity asset-root frame. ``pose`` is the imported asset/model root pose. For USD backends this is the spawned entity Prim pose; articulation root-link poses are exposed only through :class:`LinkState`.

class LinkState(object)

class ArticulationState(object)

Compact physical joint state in the descriptor's declared axis order.

class AttachmentState(object)

One portable attachment relationship without a native constraint handle.

class SceneStateSnapshot(object)

Compact scene state committed atomically at exactly one authority tick.

class SceneDeltaKind(StrEnum)

class SceneDelta(object)

One bounded scene change; no geometry payload is permitted by shape.

validate_scene_state_against(catalog: SceneCatalogSnapshot, state: SceneStateSnapshot) -> None

Validate one committed state against its exact scoped static catalog.

validate_scene_delta_against(catalog: SceneCatalogSnapshot, state: SceneStateSnapshot, delta: SceneDelta) -> None

Validate a delta's base identity before a provider applies its payload.

class SceneQueryErrorCode(StrEnum)

class SceneQueryError(RuntimeError)

Typed bounded failure from ``fastsim.scene.query@3``.

class SceneDeltaSubscription(Protocol)

class SceneQueryService(Protocol)

Capability-scoped read-only entity catalog and committed state.