pycram.datastructures.enums =========================== .. py:module:: pycram.datastructures.enums .. autoapi-nested-parse:: Module holding all enums of PyCRAM. Attributes ---------- .. autoapisummary:: pycram.datastructures.enums.MJCFBodyType Classes ------- .. autoapisummary:: pycram.datastructures.enums.AdjacentBodyMethod pycram.datastructures.enums.ContainerManipulationType pycram.datastructures.enums.FindBodyInRegionMethod pycram.datastructures.enums.Frame pycram.datastructures.enums.StaticJointState pycram.datastructures.enums.DescriptionType pycram.datastructures.enums.ExecutionType pycram.datastructures.enums.Arms pycram.datastructures.enums.TaskStatus pycram.datastructures.enums.JointType pycram.datastructures.enums.AxisIdentifier pycram.datastructures.enums.Grasp pycram.datastructures.enums.ObjectType pycram.datastructures.enums.Shape pycram.datastructures.enums.TorsoState pycram.datastructures.enums.WorldMode pycram.datastructures.enums.GripperState pycram.datastructures.enums.GripperType pycram.datastructures.enums.ImageEnum pycram.datastructures.enums.DetectionTechnique pycram.datastructures.enums.DetectionState pycram.datastructures.enums.LoggerLevel pycram.datastructures.enums.VirtualMobileBaseJointName pycram.datastructures.enums.MJCFGeomType pycram.datastructures.enums.MJCFJointType pycram.datastructures.enums.MovementType pycram.datastructures.enums.WaypointsMovementType pycram.datastructures.enums.MultiverseAPIName pycram.datastructures.enums.MultiverseProperty pycram.datastructures.enums.MultiverseBodyProperty pycram.datastructures.enums.MultiverseJointProperty pycram.datastructures.enums.MultiverseJointPosition pycram.datastructures.enums.MultiverseJointCMD pycram.datastructures.enums.FilterConfig Module Contents --------------- .. py:class:: AdjacentBodyMethod Bases: :py:obj:`enum.Enum` Generic enumeration. Derive from this class to define new enumerations. .. py:attribute:: ClosestPoints The ClosestPoints method is used to find the closest points in other bodies to the body. .. py:attribute:: RayCasting The RayCasting method is used to find the points in other bodies that are intersected by rays cast from the body bounding box to 6 directions (up, down, left, right, front, back). .. py:class:: ContainerManipulationType Bases: :py:obj:`enum.Enum` Enum for the different types of container manipulation. .. py:attribute:: Opening The Opening type is used to open a container. .. py:attribute:: Closing The Closing type is used to close a container. .. py:class:: FindBodyInRegionMethod Bases: :py:obj:`enum.Enum` Enum for the different methods to find a body in a region. .. py:attribute:: FingerToCentroid The FingerToCentroid method is used to find the body in a region by casting a ray from each finger to the centroid of the region. .. py:attribute:: Centroid The Centroid method is used to find the body in a region by calculating the centroid of the region and casting two rays from opposite sides of the region to the centroid. .. py:attribute:: MultiRay The MultiRay method is used to find the body in a region by casting multiple rays covering the region. .. py:class:: Frame Bases: :py:obj:`enum.Enum` Generic enumeration. Derive from this class to define new enumerations. .. py:attribute:: Map :value: 'map' .. py:class:: StaticJointState Bases: :py:obj:`enum.Enum` Generic enumeration. Derive from this class to define new enumerations. .. py:attribute:: Park :value: 'park' .. py:class:: DescriptionType Bases: :py:obj:`enum.Enum` Generic enumeration. Derive from this class to define new enumerations. .. py:attribute:: URDF :value: 'urdf' .. py:attribute:: MJCF :value: 'mjcf' .. py:method:: get_file_extension() .. py:class:: ExecutionType Bases: :py:obj:`enum.Enum` Enum for Execution Process Module types. .. py:attribute:: REAL .. py:attribute:: SIMULATED .. py:attribute:: SEMI_REAL .. py:class:: Arms Bases: :py:obj:`int`, :py:obj:`enum.Enum` Enum for Arms. .. py:attribute:: LEFT :value: 0 .. py:attribute:: RIGHT :value: 1 .. py:attribute:: BOTH :value: 2 .. py:method:: __str__() Return str(self). .. py:method:: __repr__() Return repr(self). .. py:class:: TaskStatus Bases: :py:obj:`int`, :py:obj:`enum.Enum` Enum for readable descriptions of a tasks' status. .. py:attribute:: CREATED :value: 0 .. py:attribute:: RUNNING :value: 1 .. py:attribute:: SUCCEEDED :value: 2 .. py:attribute:: FAILED :value: 3 .. py:attribute:: INTERRUPTED :value: 4 .. py:attribute:: SLEEPING :value: 5 .. py:class:: JointType Bases: :py:obj:`enum.Enum` Enum for readable joint types. .. py:attribute:: REVOLUTE :value: 0 .. py:attribute:: PRISMATIC :value: 1 .. py:attribute:: SPHERICAL :value: 2 .. py:attribute:: PLANAR :value: 3 .. py:attribute:: FIXED :value: 4 .. py:attribute:: UNKNOWN :value: 5 .. py:attribute:: CONTINUOUS :value: 6 .. py:attribute:: FLOATING :value: 7 .. py:class:: AxisIdentifier Bases: :py:obj:`enum.Enum` Enum for translating the axis name to a vector along that axis. .. py:attribute:: X :value: (1, 0, 0) .. py:attribute:: Y :value: (0, 1, 0) .. py:attribute:: Z :value: (0, 0, 1) .. py:method:: from_tuple(axis_tuple) :classmethod: .. py:class:: Grasp Bases: :py:obj:`enum.Enum` Enum for Grasp orientations. .. py:attribute:: FRONT .. py:attribute:: BACK .. py:attribute:: RIGHT .. py:attribute:: LEFT .. py:attribute:: TOP .. py:attribute:: BOTTOM .. py:method:: from_axis_direction(axis: AxisIdentifier, direction: int) :classmethod: Get the Grasp face from an axis-index tuple .. py:class:: ObjectType Bases: :py:obj:`int`, :py:obj:`enum.Enum` Enum for Object types to easier identify different objects .. py:attribute:: METALMUG .. py:attribute:: PRINGLES .. py:attribute:: MILK .. py:attribute:: SPOON .. py:attribute:: BOWL .. py:attribute:: BREAKFAST_CEREAL .. py:attribute:: JEROEN_CUP .. py:attribute:: ROBOT .. py:attribute:: GRIPPER .. py:attribute:: ENVIRONMENT .. py:attribute:: GENERIC_OBJECT .. py:attribute:: HUMAN .. py:attribute:: IMAGINED_SURFACE .. py:class:: Shape Bases: :py:obj:`enum.Enum` Enum for visual shapes of objects .. py:attribute:: SPHERE :value: 2 .. py:attribute:: BOX :value: 3 .. py:attribute:: CYLINDER :value: 4 .. py:attribute:: MESH :value: 5 .. py:attribute:: PLANE :value: 6 .. py:attribute:: CAPSULE :value: 7 .. py:class:: TorsoState Bases: :py:obj:`enum.IntEnum` Enum for the different states of the torso. .. py:attribute:: HIGH .. py:attribute:: MID .. py:attribute:: LOW .. py:class:: WorldMode Bases: :py:obj:`enum.Enum` Enum for the different modes of the world. .. py:attribute:: GUI :value: 'GUI' .. py:attribute:: DIRECT :value: 'DIRECT' .. py:class:: GripperState Bases: :py:obj:`enum.Enum` Enum for the different motions of the gripper. .. py:attribute:: OPEN .. py:attribute:: CLOSE .. py:method:: __str__() .. py:method:: __repr__() .. py:class:: GripperType Bases: :py:obj:`enum.Enum` Enum for the different types of grippers. .. py:attribute:: PARALLEL .. py:attribute:: SUCTION .. py:attribute:: FINGER .. py:attribute:: HYDRAULIC .. py:attribute:: PNEUMATIC .. py:attribute:: CUSTOM .. py:class:: ImageEnum Bases: :py:obj:`enum.Enum` Enum for image switch view on hsrb display. .. py:attribute:: HI :value: 0 .. py:attribute:: TALK :value: 1 .. py:attribute:: DISH :value: 2 .. py:attribute:: DONE :value: 3 .. py:attribute:: DROP :value: 4 .. py:attribute:: HANDOVER :value: 5 .. py:attribute:: ORDER :value: 6 .. py:attribute:: PICKING :value: 7 .. py:attribute:: PLACING :value: 8 .. py:attribute:: REPEAT :value: 9 .. py:attribute:: SEARCH :value: 10 .. py:attribute:: WAVING :value: 11 .. py:attribute:: FOLLOWING :value: 12 .. py:attribute:: DRIVINGBACK :value: 13 .. py:attribute:: PUSHBUTTONS :value: 14 .. py:attribute:: FOLLOWSTOP :value: 15 .. py:attribute:: JREPEAT :value: 16 .. py:attribute:: SOFA :value: 17 .. py:attribute:: INSPECT :value: 18 .. py:attribute:: CHAIR :value: 37 .. py:class:: DetectionTechnique Bases: :py:obj:`int`, :py:obj:`enum.Enum` Enum for techniques for detection tasks. .. py:attribute:: ALL :value: 0 .. py:attribute:: HUMAN :value: 1 .. py:attribute:: TYPES :value: 2 .. py:attribute:: REGION :value: 3 .. py:attribute:: HUMAN_ATTRIBUTES :value: 4 .. py:attribute:: HUMAN_WAVING :value: 5 .. py:class:: DetectionState Bases: :py:obj:`int`, :py:obj:`enum.Enum` Enum for the state of the detection task. .. py:attribute:: START :value: 0 .. py:attribute:: STOP :value: 1 .. py:attribute:: PAUSE :value: 2 .. py:class:: LoggerLevel Bases: :py:obj:`enum.Enum` Enum for the different logger levels. .. py:attribute:: DEBUG :value: 'debug' .. py:attribute:: INFO :value: 'info' .. py:attribute:: WARN :value: 'warn' .. py:attribute:: ERROR :value: 'error' .. py:attribute:: FATAL :value: 'fatal' .. py:class:: VirtualMobileBaseJointName Bases: :py:obj:`enum.Enum` Enum for the joint names of the virtual mobile base. .. py:attribute:: LINEAR_X :value: 'odom_vel_lin_x_joint' .. py:attribute:: LINEAR_Y :value: 'odom_vel_lin_y_joint' .. py:attribute:: ANGULAR_Z :value: 'odom_vel_ang_z_joint' .. py:class:: MJCFGeomType Bases: :py:obj:`enum.Enum` Enum for the different geom types in a MuJoCo XML file. .. py:attribute:: BOX :value: 'box' .. py:attribute:: CYLINDER :value: 'cylinder' .. py:attribute:: CAPSULE :value: 'capsule' .. py:attribute:: SPHERE :value: 'sphere' .. py:attribute:: PLANE :value: 'plane' .. py:attribute:: MESH :value: 'mesh' .. py:attribute:: ELLIPSOID :value: 'ellipsoid' .. py:attribute:: HFIELD :value: 'hfield' .. py:attribute:: SDF :value: 'sdf' .. py:data:: MJCFBodyType Alias for MJCFGeomType. As the body type is the same as the geom type. .. py:class:: MJCFJointType Bases: :py:obj:`enum.Enum` Enum for the different joint types in a MuJoCo XML file. .. py:attribute:: FREE :value: 'free' .. py:attribute:: BALL :value: 'ball' .. py:attribute:: SLIDE :value: 'slide' .. py:attribute:: HINGE :value: 'hinge' .. py:attribute:: FIXED :value: 'fixed' .. py:class:: MovementType Bases: :py:obj:`enum.Enum` Enum for the different movement types of the robot. .. py:attribute:: STRAIGHT_TRANSLATION .. py:attribute:: STRAIGHT_CARTESIAN .. py:attribute:: TRANSLATION .. py:attribute:: CARTESIAN .. py:class:: WaypointsMovementType Bases: :py:obj:`enum.Enum` Enum for the different movement types of the robot. .. py:attribute:: ENFORCE_ORIENTATION_STRICT .. py:attribute:: ENFORCE_ORIENTATION_FINAL_POINT .. py:class:: MultiverseAPIName Bases: :py:obj:`enum.Enum` Enum for the different APIs of the Multiverse. .. py:attribute:: GET_CONTACT_POINTS :value: 'get_contact_points' .. py:attribute:: GET_CONTACT_BODIES :value: 'get_contact_bodies' .. py:attribute:: GET_CONTACT_BODIES_AND_POINTS :value: 'get_contact_bodies_and_points' .. py:attribute:: GET_CONSTRAINT_EFFORT :value: 'get_constraint_effort' .. py:attribute:: GET_BOUNDING_BOX :value: 'get_bounding_box' .. py:attribute:: ATTACH :value: 'attach' .. py:attribute:: DETACH :value: 'detach' .. py:attribute:: GET_RAYS :value: 'get_rays' .. py:attribute:: EXIST :value: 'exist' .. py:attribute:: PAUSE :value: 'pause' .. py:attribute:: UNPAUSE :value: 'unpause' .. py:attribute:: SAVE :value: 'save' .. py:attribute:: LOAD :value: 'load' .. py:class:: MultiverseProperty Bases: :py:obj:`enum.Enum` Generic enumeration. Derive from this class to define new enumerations. .. py:method:: __str__() .. py:class:: MultiverseBodyProperty Bases: :py:obj:`MultiverseProperty` Enum for the different properties of a body the Multiverse. .. py:attribute:: POSITION :value: 'position' .. py:attribute:: ORIENTATION :value: 'quaternion' .. py:attribute:: RELATIVE_VELOCITY :value: 'relative_velocity' .. py:class:: MultiverseJointProperty Bases: :py:obj:`MultiverseProperty` Generic enumeration. Derive from this class to define new enumerations. .. py:class:: MultiverseJointPosition Bases: :py:obj:`MultiverseJointProperty` Enum for the Position names of the different joint types in the Multiverse. .. py:attribute:: REVOLUTE_JOINT_POSITION :value: 'joint_rvalue' .. py:attribute:: PRISMATIC_JOINT_POSITION :value: 'joint_tvalue' .. py:method:: from_pycram_joint_type(joint_type: JointType) -> MultiverseJointPosition :classmethod: .. py:class:: MultiverseJointCMD Bases: :py:obj:`MultiverseJointProperty` Enum for the Command names of the different joint types in the Multiverse. .. py:attribute:: REVOLUTE_JOINT_CMD :value: 'cmd_joint_rvalue' .. py:attribute:: PRISMATIC_JOINT_CMD :value: 'cmd_joint_tvalue' .. py:method:: from_pycram_joint_type(joint_type: JointType) -> MultiverseJointCMD :classmethod: .. py:class:: FilterConfig Bases: :py:obj:`enum.Enum` Declare existing filter methods. Currently supported: Butterworth .. py:attribute:: butterworth :value: 1