Datatypes

The Telekinesis ecosystem uses a set of datatypes for inputs and outputs across components (e.g. Skills, APIs). They are defined in the datatypes package and support serialization for transport.

Scalar and Primitive

• Bool — single boolean
• Int — 32-bit signed integer
• Float — 32-bit float
• String — UTF-8 string

2D / 3D Geometry

• Boxes3D — 3D bounding boxes (half-sizes, centers, rotations)
• Boxes2D — 2D bounding boxes (multiple formats)
• Circles — 2D circles (centers, radii)
• Ellipses — 2D ellipses (centers, axes, angles)
• Lines — 2D lines (rho, theta)

Points and Meshes

• Points3D — 3D point cloud
• Points2D — 2D point cloud
• LineStrips2D — 2D polylines/contours
• Mesh3D — 3D triangle mesh
• ListOfPoints3D — list of 3D point clouds

Vectors and Matrices

• Vector2D — 2D vector
• Vector3D — 3D vector
• Vector4D — 4D vector
• Mat2X2 — 2×2 matrix
• Mat3X3 — 3×3 matrix
• Mat4X4 — 4×4 matrix

Positions

• Position2D — 2D position (x, y)
• Position3D — 3D position (x, y, z)

Image and Color

• Image — image (NumPy array or raw bytes)
• ListOfImages — list of Image objects
• ImageFormat — image format metadata
• Rgba32 — packed RGBA color

Containers and Parts

• Part — part with ID, 6-DOF pose, optional dimensions and state
• Tray — tray with ID, pose, dimensions, slot count, and optional parts
• Bin — bin with ID, pose, and optional parts

Assets and Annotations

• Asset3D — 3D asset (e.g. .ply, .obj, .glb)
• PanopticSegmentationAnnotation — panoptic segmentation (mask + segments_info)
• SegmentInfo — COCO-style per-segment metadata (element of segments_info)
• ObjectDetectionAnnotations — object detection / instance segmentation list
• ObjectDetectionAnnotation — single COCO-style object/instance annotation
• GeometryDetectionAnnotations — geometry detection (circles, ellipses, lines, contours)
• GeometryDetectionAnnotation — single geometry detection annotation
• Categories — category definitions for annotations
• Category — single category (id, name, supercategory, isthing, color)
• KeypointDetectionAnnotation — keypoint detection for one instance

Generic

• Array — arbitrary NumPy ndarray (for serialization)

Enums

• Enums — enumeration types (e.g. Box2DFormat, ColorModel, PartState) used by Boxes2D, Image, Part, and others.