Tesseract Robotics Python (nanobind)
Python bindings for Tesseract robotics motion planning using nanobind.
Developed and maintained by Wason Technology, LLC and Jelle Feringa.
Features
Scene loading and management (URDF, SRDF, meshes)
Collision checking (Bullet, FCL)
Kinematics (KDL, OPW, UR)
Motion planning (OMPL, Descartes, TrajOpt)
Time parameterization (TOTG, ISP, Ruckig)
Task composition and pipelines
Pythonic high-level API
Contents
- Quick Start Guide
- Migration Notes: SWIG to nanobind
- Cross-Module Inheritance
- InstructionsTrajectory and Time Parameterization
- Poly Types (Type Erasure)
- CompositeInstruction.flatten() - Not Needed
- Cross-Module Type Resolution
- Viewer Trajectory Visualization - RESOLVED
- nanobind Reference Leaks
- TaskComposerPluginFactory Cross-Module Issue - RESOLVED
- TrajOpt Planner
- C++ Build Issues
- Task Composer API Differences
- TrajOpt Profile Configuration
- Cartesian Path Planning with assignCurrentStateAsSeed
- Known Issues
- Important Usage Notes
- Examples
- API Reference
- tesseract_common
- tesseract_geometry
- tesseract_collision
- tesseract_scene_graph
- tesseract_srdf
- tesseract_urdf
- tesseract_state_solver
- tesseract_kinematics
- tesseract_environment
- tesseract_visualization
- tesseract_command_language
- tesseract_motion_planners
- tesseract_motion_planners_descartes
- tesseract_motion_planners_trajopt
- tesseract_motion_planners_ompl
- tesseract_motion_planners_simple
- tesseract_time_parameterization
- tesseract_task_composer
- tesseract_robotics_viewer