qhsim 0.1.1

Python SDK for simulation-carema.

qhsim SDK

Python SDK for the simulation-carema backend API.

Install

python -m pip install -e sdk

Local Debug Flow

Run the prodtest HTTP flow from the repository root:

python sdk\examples\debug_http_render_flow.py

The debug script loads the scene, submits one render task with two camera poses, polls the render result, and prints the task id, status, finished flag, image URLs, and result COS keys.

Defaults:

• service base URL: http://localhost:18080
• service base prefix: /qh-sensor-simulation/api/c
• QHSIM_USER_ID: 3FO4KV8SHSLV
• QHSIM_DESIGN_ID: 3FO3BK4HCD6O
• QHSIM_SNAPSHOT_TYPE_ID: 720
• QHSIM_POLL_INTERVAL: 3
• QHSIM_POLL_ATTEMPTS: 20

The service URL is fixed in the SDK. To change it, edit DEFAULT_BASE_URL in qhsim.backends.http. The service path prefix is fixed by DEFAULT_SERVICE_BASE_PREFIX. HTTPS certificate verification is disabled by default for prodtest self-signed certificates; pass config={"verify_ssl": True, "cafile": "internal-ca.pem"} to enable verification with a trusted CA.

If you use another example directly without editable install, set PYTHONPATH first:

$env:PYTHONPATH="D:\fengguo\Agent\repo\simulation-carema\sdk"
python sdk\examples\basic_http_flow.py

Example

from qhsim import SimulationApp
from qhsim.core.api import World
from qhsim.core.math import Position, Target
from qhsim.sensors.camera import Camera

simulation_app = SimulationApp(
    user_id="3FO4KV8SHSLV",
    config={
        "snapshot_type_id": 720,
    },
)

world = World(simulation_app)
world.load_scene(design_id="3FO3BK4HCD6O")

camera = Camera(
    name="camera",
    position=Position(0.0, 0.0, 1600.0),
    target=Target(0.0, 1938.0, 1300.0),
    fov=80.0,
    clarity=1,
)

world.scene.add(camera)

camera.set_world_pose(
    position=Position(1090.0, 0.0, 1600.0),
    target=Target(100.0, 1938.0, 1300.0),
)

submitted = world.render()
print(submitted.task_id)

render_data = world.get_render_result(submitted.task_id)
print(render_data.finished)
print(render_data.image_urls)

final_data = world.poll_render_result(submitted.task_id)
print(final_data.status)
print(final_data.image_urls)

print(camera.get_history_pose())
print(world.scene.get_object(object_name=camera.name))

simulation_app.close()

The default backend calls the fixed local service API:

• GET /qh-sensor-simulation/api/c/scene/models?designId=...
• POST /qh-sensor-simulation/api/c/camera/render
• GET /qh-sensor-simulation/api/c/camera/render/result?rootTaskId=...

user_id is sent as the required x-qh-id header and should already be the encrypted user id expected by the backend. The service URL cannot be overridden by config or environment variables. To change it, edit DEFAULT_BASE_URL in qhsim.backends.http. HTTPS certificate verification is disabled by default for prodtest self-signed certificates; pass config={"verify_ssl": True, "cafile": "internal-ca.pem"} to enable verification with a trusted CA. To swap the transport in tests, pass a backend object with load_scene(), render(), and get_render_result() methods:

simulation_app = SimulationApp(config={"backend": custom_backend})

Public API

Each module defines __all__; names not listed there are implementation details.

qhsim

• SimulationApp: SDK runtime entrypoint.
  • update()
  • close()
  • is_running()

qhsim.backends

• HttpBackend: backend implementation for the service API.
  • load_scene(design_id)
  • render(design_id, camera_history, camera_name)
  • get_render_result(root_task_id)
• BackendCameraData
• BackendBoundingBoxData
• BackendModelData
• BackendVec3Data
• RenderResultResponse
• RenderSubmitResponse
• RenderTaskRequest
• SceneModelListResponse
• DEFAULT_BASE_URL
• DEFAULT_SERVICE_BASE_PREFIX
• DEFAULT_SNAPSHOT_TYPE_ID

qhsim.core

• ModelData: scene model metadata.
• SimulationContext: app context holder.
• Scene: loaded design scene.
  • add(obj)
  • get_objects()
  • get_object(object_id=None, object_name=None)
• World: high-level scene and render API.
  • load_scene(design_id)
  • render(camera=None)
  • get_render_result(task_id)
  • poll_render_result(task_id, interval=3.0, max_attempts=20000, print_progress=True, require_result=True)
• Position
  • from_dict(data)
  • to_dict()
• Target
  • from_dict(data)
  • to_dict()
• BoundingBox
  • from_dict(data)
  • to_dict()
• RenderData: render task result with task_id, status, finished, result, image_urls, result_cos_key, and result_zip_cos_key.

qhsim.sensors

• Camera: camera sensor used by World.render().
  • set_world_pose(position, target)
  • get_world_pose()
  • get_history_pose()
  • to_render_history()