tesseract_robotics.tesseract_motion_planners_simple

Simple joint-space interpolation planner.

Overview

The Simple planner performs linear interpolation in joint space. No collision checking - use only when path is known to be safe.

Python

from tesseract_robotics.tesseract_motion_planners_simple import (
    SimpleMotionPlanner,
    generateInterpolatedProgram,
)

SimpleMotionPlanner

Python

from tesseract_robotics.tesseract_motion_planners_simple import SimpleMotionPlanner
from tesseract_robotics.tesseract_motion_planners import PlannerRequest

planner = SimpleMotionPlanner()

request = PlannerRequest()
request.env = env
request.instructions = program
request.profiles = profiles

response = planner.solve(request)

Utility Functions

generateInterpolatedProgram

Interpolate a program to add intermediate waypoints.

Python

from tesseract_robotics.tesseract_motion_planners_simple import generateInterpolatedProgram

# Add waypoints between existing ones
interpolated = generateInterpolatedProgram(
    program,
    env,
    profiles,
    max_step=0.1  # max joint step between waypoints
)

Use Cases

• Initial seeding: Generate dense trajectory for TrajOpt
• Safe paths: When you know the path is collision-free
• Testing: Quick trajectory generation for debugging
• Time parameterization input: Dense trajectory for velocity planning

Example

Python

from tesseract_robotics.tesseract_motion_planners_simple import SimpleMotionPlanner
from tesseract_robotics.tesseract_motion_planners import PlannerRequest
from tesseract_robotics.tesseract_command_language import ProfileDictionary

# Simple planner needs minimal setup
profiles = ProfileDictionary()

request = PlannerRequest()
request.env = env
request.instructions = program
request.profiles = profiles

planner = SimpleMotionPlanner()
response = planner.solve(request)

if response.successful:
    # Result is linearly interpolated joint trajectory
    trajectory = response.results

Limitations

• No collision checking: Path may collide with obstacles
• Joint-space only: Cartesian interpolation not supported
• No optimization: Just linear interpolation

Tips

1. Use as preprocessing for optimization-based planners
2. Verify collision after planning with simple planner
3. Good for short motions where collision is unlikely

Auto-generated API Reference

tesseract_motion_planners_simple Python bindings

SimpleMotionPlanner

__init__

Python

__init__(name: str = 'SIMPLE') -> None

getName

Python

getName() -> str

solve

Python

solve(request: PlannerRequest) -> tesseract_robotics.tesseract_motion_planners._tesseract_motion_planners.PlannerResponse

terminate

Python

terminate() -> bool

clear

Python

clear() -> None

clone

Python

clone() -> tesseract_robotics.tesseract_motion_planners._tesseract_motion_planners.MotionPlanner

SimplePlannerMoveProfile

Bases: Profile

SimplePlannerCompositeProfile

Bases: Profile

__init__

Python

__init__() -> None

SimplePlannerFixedSizeMoveProfile

Bases: SimplePlannerMoveProfile

freespace_steps property writable

Python

freespace_steps: int

linear_steps property writable

Python

linear_steps: int

__init__

Python

__init__(freespace_steps: int = 10, linear_steps: int = 10) -> None

SimplePlannerFixedSizeAssignMoveProfile

Bases: SimplePlannerMoveProfile

freespace_steps property writable

Python

freespace_steps: int

linear_steps property writable

Python

linear_steps: int

__init__

Python

__init__(freespace_steps: int = 10, linear_steps: int = 10) -> None

SimplePlannerFixedSizeAssignNoIKMoveProfile

Bases: SimplePlannerMoveProfile

freespace_steps property writable

Python

freespace_steps: int

linear_steps property writable

Python

linear_steps: int

__init__

Python

__init__(freespace_steps: int = 10, linear_steps: int = 10) -> None

SimplePlannerLVSMoveProfile

Bases: SimplePlannerMoveProfile

state_longest_valid_segment_length property writable

Python

state_longest_valid_segment_length: float

translation_longest_valid_segment_length property writable

Python

translation_longest_valid_segment_length: float

rotation_longest_valid_segment_length property writable

Python

rotation_longest_valid_segment_length: float

min_steps property writable

Python

min_steps: int

max_steps property writable

Python

max_steps: int

__init__

Python

__init__(state_longest_valid_segment_length: float = 0.08726646259971647, translation_longest_valid_segment_length: float = 0.1, rotation_longest_valid_segment_length: float = 0.08726646259971647, min_steps: int = 1, max_steps: int = 2147483647) -> None

SimplePlannerLVSNoIKMoveProfile

Bases: SimplePlannerMoveProfile

state_longest_valid_segment_length property writable

Python

state_longest_valid_segment_length: float

translation_longest_valid_segment_length property writable

Python

translation_longest_valid_segment_length: float

rotation_longest_valid_segment_length property writable

Python

rotation_longest_valid_segment_length: float

min_steps property writable

Python

min_steps: int

max_steps property writable

Python

max_steps: int

__init__

Python

__init__(state_longest_valid_segment_length: float = 0.08726646259971647, translation_longest_valid_segment_length: float = 0.1, rotation_longest_valid_segment_length: float = 0.08726646259971647, min_steps: int = 1, max_steps: int = 2147483647) -> None

SimplePlannerLVSAssignMoveProfile

Bases: SimplePlannerMoveProfile

state_longest_valid_segment_length property writable

Python

state_longest_valid_segment_length: float

translation_longest_valid_segment_length property writable

Python

translation_longest_valid_segment_length: float

rotation_longest_valid_segment_length property writable

Python

rotation_longest_valid_segment_length: float

min_steps property writable

Python

min_steps: int

max_steps property writable

Python

max_steps: int

__init__

Python

__init__(state_longest_valid_segment_length: float = 0.08726646259971647, translation_longest_valid_segment_length: float = 0.1, rotation_longest_valid_segment_length: float = 0.08726646259971647, min_steps: int = 1, max_steps: int = 2147483647) -> None

SimplePlannerLVSAssignNoIKMoveProfile

Bases: SimplePlannerMoveProfile

state_longest_valid_segment_length property writable

Python

state_longest_valid_segment_length: float

translation_longest_valid_segment_length property writable

Python

translation_longest_valid_segment_length: float

rotation_longest_valid_segment_length property writable

Python

rotation_longest_valid_segment_length: float

min_steps property writable

Python

min_steps: int

max_steps property writable

Python

max_steps: int

__init__

Python

__init__(state_longest_valid_segment_length: float = 0.08726646259971647, translation_longest_valid_segment_length: float = 0.1, rotation_longest_valid_segment_length: float = 0.08726646259971647, min_steps: int = 1, max_steps: int = 2147483647) -> None

generateInterpolatedProgram

Python

generateInterpolatedProgram(instructions: CompositeInstruction, env: 'tesseract_environment::Environment', state_longest_valid_segment_length: float = 0.08726646259971647, translation_longest_valid_segment_length: float = 0.15, rotation_longest_valid_segment_length: float = 0.08726646259971647, min_steps: int = 1) -> tesseract_robotics.tesseract_command_language._tesseract_command_language.CompositeInstruction

Generate an interpolated program from a composite instruction

ProfileDictionary_addSimplePlannerMoveProfile

Python

ProfileDictionary_addSimplePlannerMoveProfile(dict: ProfileDictionary, ns: str, profile_name: str, profile: SimplePlannerMoveProfile) -> None

Add a simple planner move profile to ProfileDictionary

ProfileDictionary_addSimplePlannerCompositeProfile

Python

ProfileDictionary_addSimplePlannerCompositeProfile(dict: ProfileDictionary, ns: str, profile_name: str, profile: SimplePlannerCompositeProfile) -> None

Add a simple planner composite profile to ProfileDictionary