API Reference¶

Auto-generated API documentation from docstrings.

Modules Overview¶

High-Level API¶

Module	Description
`tesseract_robotics.planning`	Robot, Planner, Composer classes

Core Modules¶

Module	Description
`tesseract_robotics.tesseract_common`	Common types (Isometry3d, etc.)
`tesseract_robotics.tesseract_geometry`	Geometric primitives
`tesseract_robotics.tesseract_scene_graph`	Links, joints, scene graph
`tesseract_robotics.tesseract_environment`	Environment, commands
`tesseract_robotics.tesseract_collision`	Collision managers, contacts
`tesseract_robotics.tesseract_kinematics`	Kinematic groups, solvers

Planning Modules¶

Module	Description
`tesseract_robotics.tesseract_command_language`	Waypoints, instructions
`tesseract_robotics.tesseract_motion_planners`	Base planner types
`tesseract_robotics.tesseract_motion_planners_ompl`	OMPL planner
`tesseract_robotics.tesseract_motion_planners_trajopt`	TrajOpt planner
`tesseract_robotics.tesseract_motion_planners_descartes`	Descartes planner
`tesseract_robotics.tesseract_motion_planners_simple`	Simple interpolation
`tesseract_robotics.tesseract_task_composer`	Task composition

Low-Level SQP Modules¶

Module	Description
`tesseract_robotics.ifopt`	Base optimization (Bounds, VariableSet, ConstraintSet)
`tesseract_robotics.trajopt_ifopt`	Robotics constraints (collision, Cartesian, joints)
`tesseract_robotics.trajopt_sqp`	SQP solver (TrustRegionSQPSolver, OSQP)

Import Patterns¶

High-Level (Recommended)¶

Python

from tesseract_robotics.planning import Robot, Planner, Composer

robot = Robot.from_tesseract_support("abb_irb2400")
planner = Planner(robot)

Direct Module Access¶

Python

from tesseract_robotics.tesseract_environment import Environment
from tesseract_robotics.tesseract_scene_graph import Link, Joint
from tesseract_robotics.tesseract_geometry import Box, Sphere

SQP API¶

Python

from tesseract_robotics.ifopt import Bounds
from tesseract_robotics.trajopt_ifopt import JointPosition, CartPosConstraint
from tesseract_robotics.trajopt_sqp import TrustRegionSQPSolver, OSQPEigenSolver

Type Conventions¶

C++ Type	Python Type
`Eigen::Isometry3d`	`tesseract_common.Isometry3d`
`Eigen::VectorXd`	`numpy.ndarray`
`Eigen::MatrixXd`	`numpy.ndarray`
`std::vector<std::string>`	`list[str]`
`std::shared_ptr<T>`	Python object (ref counted)
`std::optional<T>`	`T` or `None`

Memory Management¶

Objects are reference-counted via nanobind/pybind. Generally:

Objects returned by functions are owned by Python
Objects stored in containers maintain references
No manual memory management needed

Vector Members

C++ std::vector members return copies. Use explicit methods:

Python

# Wrong (silent no-op)
link.visual.append(visual)

# Correct
link.addVisual(visual)