Enums

The datatypes package defines several enumerations used by other types. Reference this page from datatypes that accept or use these enums.

Box2DFormat

How to interpret 2D box arrays (axis-aligned bounding boxes). Used by Boxes2D for the array_format field.

Value	Description
XYWH	[x, y, width, height], with (x, y) = left, top.
YXHW	[y, x, height, width], with (x, y) = left, top.
XYXY	[x0, y0, x1, y1], with (x0, y0) = left, top and (x1, y1) = right, bottom.
YXYX	[y0, x0, y1, x1], with (x0, y0) = left, top and (x1, y1) = right, bottom.
XCYCWH	[x_center, y_center, width, height].
XCYCW2H2	[x_center, y_center, width/2, height/2].

ImageEncoding

How image pixel data is encoded (e.g. for transport). Used internally by Image.

Value	Description
RAW	Uncompressed raw pixel data.
PNG	PNG compressed image data.

ImageCompression

Whether image bytes are compressed. Used internally by Image.

Value	Description
NONE	No compression.
ZSTD	Zstandard compression.

ChannelDatatype

The scalar type of each color channel. Used by Image (e.g. when constructing from raw bytes or for channel_datatype).

Values

Value	Description
U8	8-bit unsigned integer.
I8	8-bit signed integer.
U16	16-bit unsigned integer.
I16	16-bit signed integer.
U32	32-bit unsigned integer.
I32	32-bit signed integer.
U64	64-bit unsigned integer.
I64	64-bit signed integer.
F16	16-bit IEEE-754 float (half).
F32	32-bit IEEE-754 float.
F64	64-bit IEEE-754 float (double).

Extension (ChannelDatatypeExt)

• from_np_dtype(dtype) — Returns the ChannelDatatype for a NumPy dtype (e.g. np.uint8 → U8, np.float32 → F32). Supported: uint8/16/32/64, int8/16/32/64, float16/32/64.
• to_np_dtype() — Returns the NumPy dtype for this channel datatype (e.g. ChannelDatatype.U8.to_np_dtype() → np.uint8).
• ChannelDatatype.auto(val) — Best-effort converter: accepts a ChannelDatatype, an int (enum value), or a string (case-insensitive variant name). Raises ValueError if conversion fails.

ColorModel

Which color channels are present in an image. Used by Image and ImageFormat.

Values

Value	Description
L	Grayscale (luminance).
RGB	Red, Green, Blue.
RGBA	Red, Green, Blue, Alpha.
BGR	Blue, Green, Red.
BGRA	Blue, Green, Red, Alpha.

Extension (ColorModelExt)

• num_channels() — Returns the number of channels: L → 1; RGB, BGR → 3; RGBA, BGRA → 4.
• ColorModel.from_string(name) — Converts a string to a ColorModel (case-insensitive, e.g. "rgb", "BGRA"). Valid names: "L", "RGB", "RGBA", "BGR", "BGRA". Raises ValueError for unknown names.

Type aliases: ColorModelLike is a union of ColorModel, string literals (e.g. "RGB", "L"), and int. ColorModelArrayLike extends this to allow sequences of ColorModelLike for batch APIs.

PartState

State of a part in a tray or bin. Used by Part for the optional state field.

Value	Description
VISIBLE	Part is visible.
OCCLUDED	Part is occluded.
REMOVED	Part has been removed.
PROCESSED	Part has been processed.
NOTPROCESSED	Part not yet processed.
FAILED_GRASP	Grasp attempt failed.