tesseract_robotics.tesseract_geometry¶
Geometric primitives for collision and visualization.
Primitives¶
Box¶
Python
from tesseract_robotics.tesseract_geometry import Box
box = Box(1.0, 0.5, 0.25) # x, y, z dimensions
print(f"Dimensions: {box.getX()} x {box.getY()} x {box.getZ()}")
Sphere¶
Python
from tesseract_robotics.tesseract_geometry import Sphere
sphere = Sphere(0.1) # radius
print(f"Radius: {sphere.getRadius()}")
Cylinder¶
Python
from tesseract_robotics.tesseract_geometry import Cylinder
cylinder = Cylinder(0.05, 0.2) # radius, length
print(f"Radius: {cylinder.getRadius()}, Length: {cylinder.getLength()}")
Capsule¶
Python
from tesseract_robotics.tesseract_geometry import Capsule
capsule = Capsule(0.05, 0.2) # radius, length
Cone¶
Plane¶
Python
from tesseract_robotics.tesseract_geometry import Plane
# ax + by + cz + d = 0
plane = Plane(0, 0, 1, 0) # XY plane (z = 0)
Meshes¶
Mesh¶
Triangle mesh from file.
Python
from tesseract_robotics.tesseract_geometry import Mesh, createMeshFromPath
import numpy as np
# Load from file
meshes = createMeshFromPath("model.stl")
mesh = meshes[0]
# Access data
vertices = mesh.getVertices() # VectorVector3d
triangles = mesh.getTriangles() # face indices
# With scale
meshes = createMeshFromPath("model.stl", scale=np.array([0.001, 0.001, 0.001]))
ConvexMesh¶
Convex hull for efficient collision.
Python
from tesseract_robotics.tesseract_geometry import ConvexMesh, createConvexMeshFromPath
meshes = createConvexMeshFromPath("model.stl")
convex = meshes[0]
SDFMesh¶
Signed distance field mesh.
Python
from tesseract_robotics.tesseract_geometry import SDFMesh, createSDFMeshFromPath
meshes = createSDFMeshFromPath("model.stl")
sdf = meshes[0]
CompoundMesh¶
Multiple mesh parts as single geometry.
Python
from tesseract_robotics.tesseract_geometry import CompoundMesh
# Combine multiple meshes
compound = CompoundMesh(meshes)
Octree¶
Occupancy octree from 3D sensor data, backed by octomap.
PointCloud → Octree¶
Python
from tesseract_robotics.tesseract_geometry import (
PointCloud, Octree, OctreeSubType, createOctree,
)
# Build a point cloud and convert to an octomap OcTree
pc = PointCloud()
pc.addPoint(0.0, 0.0, 0.0)
pc.addPoint(0.1, 0.0, 0.0)
pc.addPoint(0.0, 0.1, 0.0)
ot = createOctree(pc, resolution=0.05, prune=True, binary=True)
# Wrap in a tesseract Octree geometry
octree = Octree(ot, OctreeSubType.BOX, pruned=True, binary_octree=True)
print(octree.calcNumSubShapes())
Building an Octree directly¶
Python
from tesseract_robotics.tesseract_geometry import OcTree
ot = OcTree(0.05) # leaf resolution
ot.updateNode(0.0, 0.0, 0.0, True)
ot.updateNode(0.1, 0.0, 0.0, True)
ot.updateInnerOccupancy()
ot.toMaxLikelihood()
ot.writeBinary("/tmp/scene.bt")
# Load back from file
loaded = OcTree("/tmp/scene.bt")
| OctreeSubType | Description |
|---|---|
BOX |
Each occupied voxel becomes a box |
SPHERE_INSIDE |
Inscribed sphere per voxel |
SPHERE_OUTSIDE |
Circumscribed sphere per voxel |
Utilities & Conversions¶
Python
from tesseract_robotics.tesseract_geometry import (
Box, Sphere, isIdentical, extractVertices, toTriangleMesh,
)
from tesseract_robotics.tesseract_common import Isometry3d
origin = Isometry3d()
box = Box(1, 1, 1)
# Compare two geometries structurally
isIdentical(box, Box(1, 1, 1)) # True
isIdentical(box, Sphere(1)) # False
# Extract vertices (primitives are converted to a mesh first)
verts = extractVertices(box, origin) # 8 verts
# Convert a primitive to a triangle Mesh
mesh = toTriangleMesh(box, tolerance=0.01, origin=origin)
Mesh Materials¶
MeshMaterial¶
Surface material properties.
Python
from tesseract_robotics.tesseract_geometry import MeshMaterial
import numpy as np
material = MeshMaterial()
material.base_color = np.array([1.0, 0.0, 0.0, 1.0]) # RGBA red
material.metallic = 0.0
material.roughness = 0.5
MeshTexture¶
Texture for mesh surfaces.
Python
from tesseract_robotics.tesseract_geometry import MeshTexture
texture = MeshTexture()
texture.image = resource # Resource pointing to image file
texture.uvs = uv_coords # UV coordinates per vertex
Geometry Base¶
Geometry¶
Base class for all geometry types.
Python
from tesseract_robotics.tesseract_geometry import Geometry, GeometryType
geom = box # any geometry
# Type checking
geom_type = geom.getType()
if geom_type == GeometryType.BOX:
print("It's a box")
# Clone
copy = geom.clone()
| GeometryType | Description |
|---|---|
BOX |
Rectangular box |
SPHERE |
Sphere |
CYLINDER |
Cylinder |
CAPSULE |
Capsule (cylinder + hemisphere caps) |
CONE |
Cone |
PLANE |
Infinite plane |
MESH |
Triangle mesh |
CONVEX_MESH |
Convex hull |
SDF_MESH |
Signed distance field |
OCTREE |
Occupancy octree |
COMPOUND_MESH |
Multiple meshes |
Factory Functions¶
| Function | Description |
|---|---|
createMeshFromPath(path, scale) |
Load mesh from file |
createMeshFromResource(resource, scale) |
Load mesh from Resource |
createConvexMeshFromPath(path, scale) |
Load as convex hull |
createConvexMeshFromResource(resource, scale) |
Convex from Resource |
createSDFMeshFromPath(path, scale) |
Load as SDF mesh |
createSDFMeshFromResource(resource, scale) |
SDF from Resource |
createOctree(point_cloud, resolution, prune, binary) |
Build an octomap OcTree from a PointCloud |
Auto-generated API Reference¶
tesseract_geometry Python bindings
Bases: Enum
Bases: PolygonMesh
Python
__init__(vertices: Sequence[Annotated[NDArray[float64], dict(shape=3, order=C)]], faces: Annotated[NDArray[int32], dict(shape=(None,), order=C)]) -> None
Bases: PolygonMesh
Python
__init__(vertices: Sequence[Annotated[NDArray[float64], dict(shape=3, order=C)]], faces: Annotated[NDArray[int32], dict(shape=(None,), order=C)]) -> None
Bases: PolygonMesh
Python
__init__(vertices: Sequence[Annotated[NDArray[float64], dict(shape=3, order=C)]], faces: Annotated[NDArray[int32], dict(shape=(None,), order=C)]) -> None
Python
createOctree(point_cloud: PointCloud, resolution: float, prune: bool, binary: bool = True) -> OcTree
Build an octomap OcTree from a PointCloud
Python
createMeshFromPath(path: str, scale: Annotated[NDArray[float64], dict(shape=3, order=C)] = ..., triangulate: bool = True, flatten: bool = False) -> list[Mesh]
Load mesh from file and return vector of Mesh geometries
Python
createConvexMeshFromPath(path: str, scale: Annotated[NDArray[float64], dict(shape=3, order=C)] = ..., triangulate: bool = True, flatten: bool = False) -> list[ConvexMesh]
Load mesh from file and return vector of ConvexMesh geometries
Python
createSDFMeshFromPath(path: str, scale: Annotated[NDArray[float64], dict(shape=3, order=C)] = ..., triangulate: bool = True, flatten: bool = False) -> list[SDFMesh]
Load mesh from file and return vector of SDFMesh geometries
Python
createMeshFromResource(resource: 'tesseract_common::Resource', scale: Annotated[NDArray[float64], dict(shape=3, order=C)] = ..., triangulate: bool = True, flatten: bool = False) -> list[Mesh]
Load Mesh from resource (e.g., package:// URL)
Python
createConvexMeshFromResource(resource: 'tesseract_common::Resource', scale: Annotated[NDArray[float64], dict(shape=3, order=C)] = ..., triangulate: bool = True, flatten: bool = False) -> list[ConvexMesh]
Load ConvexMesh from resource (e.g., package:// URL)
Python
createSDFMeshFromResource(resource: 'tesseract_common::Resource', scale: Annotated[NDArray[float64], dict(shape=3, order=C)] = ..., triangulate: bool = True, flatten: bool = False) -> list[SDFMesh]
Load SDFMesh from resource (e.g., package:// URL)
Check if two geometries are identical
Python
extractVertices(geom: Geometry, origin: 'Eigen::Transform<double, 3, 1, 0>') -> list[Annotated[NDArray[numpy.float64], dict(shape=3, order=C)]]
Extract vertices from a geometry, transforming primitives to a mesh first
Python
toTriangleMesh(geom: Geometry, tolerance: float, origin: 'Eigen::Transform<double, 3, 1, 0>') -> Mesh
Convert a primitive geometry to a triangle Mesh