pycram.datastructures.enums

Module holding all enums of PyCRAM.

Attributes

MJCFBodyType

Alias for MJCFGeomType. As the body type is the same as the geom type.

Classes

AdjacentBodyMethod	Generic enumeration.
ContainerManipulationType	Enum for the different types of container manipulation.
FindBodyInRegionMethod	Enum for the different methods to find a body in a region.
Frame	Generic enumeration.
StaticJointState	Generic enumeration.
DescriptionType	Generic enumeration.
ExecutionType	Enum for Execution Process Module types.
Arms	Enum for Arms.
TaskStatus	Enum for readable descriptions of a tasks' status.
JointType	Enum for readable joint types.
AxisIdentifier	Enum for translating the axis name to a vector along that axis.
Grasp	Enum for Grasp orientations.
ObjectType	Enum for Object types to easier identify different objects
Shape	Enum for visual shapes of objects
TorsoState	Enum for the different states of the torso.
WorldMode	Enum for the different modes of the world.
GripperState	Enum for the different motions of the gripper.
GripperType	Enum for the different types of grippers.
ImageEnum	Enum for image switch view on hsrb display.
DetectionTechnique	Enum for techniques for detection tasks.
DetectionState	Enum for the state of the detection task.
LoggerLevel	Enum for the different logger levels.
VirtualMobileBaseJointName	Enum for the joint names of the virtual mobile base.
MJCFGeomType	Enum for the different geom types in a MuJoCo XML file.
MJCFJointType	Enum for the different joint types in a MuJoCo XML file.
MovementType	Enum for the different movement types of the robot.
WaypointsMovementType	Enum for the different movement types of the robot.
MultiverseAPIName	Enum for the different APIs of the Multiverse.
MultiverseProperty	Generic enumeration.
MultiverseBodyProperty	Enum for the different properties of a body the Multiverse.
MultiverseJointProperty	Generic enumeration.
MultiverseJointPosition	Enum for the Position names of the different joint types in the Multiverse.
MultiverseJointCMD	Enum for the Command names of the different joint types in the Multiverse.
FilterConfig	Declare existing filter methods.

Module Contents

class pycram.datastructures.enums.AdjacentBodyMethod

Bases: enum.Enum

Generic enumeration.

Derive from this class to define new enumerations.

ClosestPoints

The ClosestPoints method is used to find the closest points in other bodies to the body.

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).

class pycram.datastructures.enums.ContainerManipulationType

Bases: enum.Enum

Enum for the different types of container manipulation.

Opening

The Opening type is used to open a container.

Closing

The Closing type is used to close a container.

class pycram.datastructures.enums.FindBodyInRegionMethod

Bases: enum.Enum

Enum for the different methods to find a body in a region.

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.

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.

MultiRay

The MultiRay method is used to find the body in a region by casting multiple rays covering the region.

class pycram.datastructures.enums.Frame

Bases: enum.Enum

Generic enumeration.

Derive from this class to define new enumerations.

Map = 'map'

class pycram.datastructures.enums.StaticJointState

Bases: enum.Enum

Generic enumeration.

Derive from this class to define new enumerations.

Park = 'park'

class pycram.datastructures.enums.DescriptionType

Bases: enum.Enum

Generic enumeration.

Derive from this class to define new enumerations.

URDF = 'urdf'

MJCF = 'mjcf'

get_file_extension()

class pycram.datastructures.enums.ExecutionType

Bases: enum.Enum

Enum for Execution Process Module types.

REAL

SIMULATED

SEMI_REAL

class pycram.datastructures.enums.Arms

Bases: int, enum.Enum

Enum for Arms.

LEFT = 0

RIGHT = 1

BOTH = 2

__str__()

Return str(self).

__repr__()

Return repr(self).

class pycram.datastructures.enums.TaskStatus

Bases: int, enum.Enum

Enum for readable descriptions of a tasks’ status.

CREATED = 0

RUNNING = 1

SUCCEEDED = 2

FAILED = 3

INTERRUPTED = 4

SLEEPING = 5

class pycram.datastructures.enums.JointType

Bases: enum.Enum

Enum for readable joint types.

REVOLUTE = 0

PRISMATIC = 1

SPHERICAL = 2

PLANAR = 3

FIXED = 4

UNKNOWN = 5

CONTINUOUS = 6

FLOATING = 7

class pycram.datastructures.enums.AxisIdentifier

Bases: enum.Enum

Enum for translating the axis name to a vector along that axis.

X = (1, 0, 0)

Y = (0, 1, 0)

Z = (0, 0, 1)

classmethod from_tuple(axis_tuple)

class pycram.datastructures.enums.Grasp

Bases: enum.Enum

Enum for Grasp orientations.

FRONT

BACK

RIGHT

LEFT

TOP

BOTTOM

classmethod from_axis_direction(axis: AxisIdentifier, direction: int)

Get the Grasp face from an axis-index tuple

class pycram.datastructures.enums.ObjectType

Bases: int, enum.Enum

Enum for Object types to easier identify different objects

METALMUG

PRINGLES

MILK

SPOON

BOWL

BREAKFAST_CEREAL

JEROEN_CUP

ROBOT

GRIPPER

ENVIRONMENT

GENERIC_OBJECT

HUMAN

IMAGINED_SURFACE

class pycram.datastructures.enums.Shape

Bases: enum.Enum

Enum for visual shapes of objects

SPHERE = 2

BOX = 3

CYLINDER = 4

MESH = 5

PLANE = 6

CAPSULE = 7

class pycram.datastructures.enums.TorsoState

Bases: enum.IntEnum

Enum for the different states of the torso.

HIGH

MID

LOW

class pycram.datastructures.enums.WorldMode

Bases: enum.Enum

Enum for the different modes of the world.

GUI = 'GUI'

DIRECT = 'DIRECT'

class pycram.datastructures.enums.GripperState

Bases: enum.Enum

Enum for the different motions of the gripper.

OPEN

CLOSE

__str__()

__repr__()

class pycram.datastructures.enums.GripperType

Bases: enum.Enum

Enum for the different types of grippers.

PARALLEL

SUCTION

FINGER

HYDRAULIC

PNEUMATIC

CUSTOM

class pycram.datastructures.enums.ImageEnum

Bases: enum.Enum

Enum for image switch view on hsrb display.

HI = 0

TALK = 1

DISH = 2

DONE = 3

DROP = 4

HANDOVER = 5

ORDER = 6

PICKING = 7

PLACING = 8

REPEAT = 9

SEARCH = 10

WAVING = 11

FOLLOWING = 12

DRIVINGBACK = 13

PUSHBUTTONS = 14

FOLLOWSTOP = 15

JREPEAT = 16

SOFA = 17

INSPECT = 18

CHAIR = 37

class pycram.datastructures.enums.DetectionTechnique

Bases: int, enum.Enum

Enum for techniques for detection tasks.

ALL = 0

HUMAN = 1

TYPES = 2

REGION = 3

HUMAN_ATTRIBUTES = 4

HUMAN_WAVING = 5

class pycram.datastructures.enums.DetectionState

Bases: int, enum.Enum

Enum for the state of the detection task.

START = 0

STOP = 1

PAUSE = 2

class pycram.datastructures.enums.LoggerLevel

Bases: enum.Enum

Enum for the different logger levels.

DEBUG = 'debug'

INFO = 'info'

WARN = 'warn'

ERROR = 'error'

FATAL = 'fatal'

class pycram.datastructures.enums.VirtualMobileBaseJointName

Bases: enum.Enum

Enum for the joint names of the virtual mobile base.

LINEAR_X = 'odom_vel_lin_x_joint'

LINEAR_Y = 'odom_vel_lin_y_joint'

ANGULAR_Z = 'odom_vel_ang_z_joint'

class pycram.datastructures.enums.MJCFGeomType

Bases: enum.Enum

Enum for the different geom types in a MuJoCo XML file.

BOX = 'box'

CYLINDER = 'cylinder'

CAPSULE = 'capsule'

SPHERE = 'sphere'

PLANE = 'plane'

MESH = 'mesh'

ELLIPSOID = 'ellipsoid'

HFIELD = 'hfield'

SDF = 'sdf'

pycram.datastructures.enums.MJCFBodyType

Alias for MJCFGeomType. As the body type is the same as the geom type.

class pycram.datastructures.enums.MJCFJointType

Bases: enum.Enum

Enum for the different joint types in a MuJoCo XML file.

FREE = 'free'

BALL = 'ball'

SLIDE = 'slide'

HINGE = 'hinge'

FIXED = 'fixed'

class pycram.datastructures.enums.MovementType

Bases: enum.Enum

Enum for the different movement types of the robot.

STRAIGHT_TRANSLATION

STRAIGHT_CARTESIAN

TRANSLATION

CARTESIAN

class pycram.datastructures.enums.WaypointsMovementType

Bases: enum.Enum

Enum for the different movement types of the robot.

ENFORCE_ORIENTATION_STRICT

ENFORCE_ORIENTATION_FINAL_POINT

class pycram.datastructures.enums.MultiverseAPIName

Bases: enum.Enum

Enum for the different APIs of the Multiverse.

GET_CONTACT_POINTS = 'get_contact_points'

GET_CONTACT_BODIES = 'get_contact_bodies'

GET_CONTACT_BODIES_AND_POINTS = 'get_contact_bodies_and_points'

GET_CONSTRAINT_EFFORT = 'get_constraint_effort'

GET_BOUNDING_BOX = 'get_bounding_box'

ATTACH = 'attach'

DETACH = 'detach'

GET_RAYS = 'get_rays'

EXIST = 'exist'

PAUSE = 'pause'

UNPAUSE = 'unpause'

SAVE = 'save'

LOAD = 'load'

class pycram.datastructures.enums.MultiverseProperty

Bases: enum.Enum

Generic enumeration.

Derive from this class to define new enumerations.

__str__()

class pycram.datastructures.enums.MultiverseBodyProperty

Bases: MultiverseProperty

Enum for the different properties of a body the Multiverse.

POSITION = 'position'

ORIENTATION = 'quaternion'

RELATIVE_VELOCITY = 'relative_velocity'

class pycram.datastructures.enums.MultiverseJointProperty

Bases: MultiverseProperty

Generic enumeration.

Derive from this class to define new enumerations.

class pycram.datastructures.enums.MultiverseJointPosition

Bases: MultiverseJointProperty

Enum for the Position names of the different joint types in the Multiverse.

REVOLUTE_JOINT_POSITION = 'joint_rvalue'

PRISMATIC_JOINT_POSITION = 'joint_tvalue'

classmethod from_pycram_joint_type(joint_type: JointType) → MultiverseJointPosition

class pycram.datastructures.enums.MultiverseJointCMD

Bases: MultiverseJointProperty

Enum for the Command names of the different joint types in the Multiverse.

REVOLUTE_JOINT_CMD = 'cmd_joint_rvalue'

PRISMATIC_JOINT_CMD = 'cmd_joint_tvalue'

classmethod from_pycram_joint_type(joint_type: JointType) → MultiverseJointCMD

class pycram.datastructures.enums.FilterConfig

Bases: enum.Enum

Declare existing filter methods. Currently supported: Butterworth

butterworth = 1