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API Reference

Auto-generated API documentation from docstrings.

Modules Overview

High-Level API

Module Description
tesseract_robotics.planning Robot, MotionProgram, TaskComposer, plan_freespace/plan_ompl/plan_cartesian

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.trajopt_ifopt Variables, constraints, costs (Var, Node, collision, Cartesian)
tesseract_robotics.trajopt_sqp SQP solver (TrustRegionSQPSolver, OSQP)

Import Patterns

Python
from tesseract_robotics.planning import (
    Robot,
    MotionProgram,
    JointTarget,
    plan_freespace,
    TaskComposer,
)

robot = Robot.from_tesseract_support("abb_irb2400")
program = (
    MotionProgram("manipulator")
    .move_to(JointTarget([0, 0, 0, 0, 0, 0]))
    .move_to(JointTarget([0.5, 0, 0, 0, 0, 0]))
)
result = plan_freespace(robot, program)

# Or reuse a composer (amortizes plugin loading):
composer = TaskComposer.from_config(warmup=True)
result = composer.plan(robot, program, pipeline="TrajOptPipeline")

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.trajopt_ifopt import Bounds, CartPosConstraint, createNodesVariables
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)