Examples

Learn tesseract_robotics through working examples.

Example Categories

• Basic Examples

  ---

  Fundamentals: kinematics, collision, scene graph

  Basic Examples

• Planning Examples

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  Motion planning with OMPL, TrajOpt, Descartes

  Planning Examples

• Online Planning

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  Real-time replanning with low-level SQP API

  Online Planning

Running Examples

All examples are in the examples/ directory:

Bash

# Activate environment
pixi shell

# Run an example
python examples/freespace_ompl_example.py

Example Index

Basic

Example	Description
tesseract_kinematics_example.py	FK/IK with joint groups
tesseract_collision_example.py	Discrete collision checking
scene_graph_example.py	Scene graph manipulation
geometry_showcase_example.py	All geometry types

Planning

Example	Description
freespace_ompl_example.py	OMPL freespace motion
basic_cartesian_example.py	Cartesian path with TrajOpt
glass_upright_example.py	Orientation constraints
pick_and_place_example.py	Pick, attach, place workflow
car_seat_example.py	Complex multi-step planning
raster_example.py	Industrial raster patterns
puzzle_piece_auxillary_axes_example.py	9-DOF with external axis
freespace_hybrid_example.py	OMPL + TrajOpt hybrid
chain_example.py	Descartes + TrajOpt chaining

Real-Time

Example	Description
online_planning_example.py	TaskComposer replanning
online_planning_sqp_example.py	Low-level SQP (73 Hz)

Visualization

Example	Description
shapes_viewer.py	Basic shapes in viewer
tesseract_material_mesh_viewer.py	Materials and meshes
abb_irb2400_viewer.py	Robot visualization

Prerequisites

Most examples require:

Python

# tesseract_robotics installed
import tesseract_robotics

# For visualization
from tesseract_robotics_viewer import TesseractViewer

Install the viewer:

Bash

pip install tesseract_robotics_viewer

Viewer Usage

Most examples include visualization:

Python

from tesseract_robotics_viewer import TesseractViewer

viewer = TesseractViewer()
viewer.update_environment(robot.env, [0, 0, 0])

# Animate trajectory
viewer.update_trajectory(result.raw_results)

# Start web server
viewer.start_serve_background()
print("Open http://localhost:8000")
input("Press Enter to exit...")

Open http://localhost:8000 in your browser to view.