Examples¶

Learn tesseract_robotics through working examples.

Example Categories¶

Basic Examples

Fundamentals: kinematics, collision, scene graph

Basic Examples
Planning Examples

Motion planning with OMPL, TrajOpt, Descartes

Planning Examples
Online Planning

Real-time replanning with low-level SQP API

Online Planning

Running Examples¶

Examples install as console scripts via [project.scripts] in pyproject.toml. Once the package is installed (via pip or pixi install) they are on PATH:

Bash

# Activate environment
pixi shell

# Run an example (installed console script)
tesseract_freespace_ompl_example

# Or via Python module invocation
pixi run python -m tesseract_robotics.examples.freespace_ompl_example

Every example module has both main() and run() entry points — main() handles optional viewer launch, run() returns results for testing / reuse.

Example Index¶

Basic¶

Example	Console script	Description
`tesseract_kinematics_example.py`	`tesseract_kinematics_example`	FK/IK with joint groups
`tesseract_collision_example.py`	`tesseract_collision_example`	Discrete collision checking
`scene_graph_example.py`	`tesseract_scene_graph_example`	Scene graph manipulation
`geometry_showcase_example.py`	`tesseract_geometry_showcase_example`	All geometry types
`reeds_shepp_example.py`	`tesseract_reeds_shepp_example`	Reeds-Shepp path for differential-drive

Planning¶

Example	Console script	Description
`freespace_ompl_example.py`	`tesseract_freespace_ompl_example`	OMPL freespace motion
`basic_cartesian_example.py`	`tesseract_basic_cartesian_example`	Cartesian path with TrajOpt
`glass_upright_example.py`	`tesseract_glass_upright_example`	Orientation constraints
`pick_and_place_example.py`	`tesseract_pick_and_place_example`	Pick, attach, place workflow
`car_seat_example.py`	`tesseract_car_seat_example`	Complex multi-step planning
`raster_example.py`	`tesseract_raster_example`	Industrial raster patterns
`puzzle_piece_auxillary_axes_example.py`	`tesseract_puzzle_piece_auxillary_axes_example`	9-DOF with external axis
`freespace_hybrid_example.py`	`tesseract_freespace_hybrid_example`	OMPL + TrajOpt hybrid
`chain_example.py`	`tesseract_chain_example`	Descartes + TrajOpt chaining

Real-Time¶

Example	Console script	Description
`online_planning_example.py`	`tesseract_online_planning_example`	TaskComposer replanning
`online_planning_sqp_example.py`	`tesseract_online_planning_sqp_example`	Low-level SQP (73 Hz)

Visualization¶

Example	Console script	Description
`shapes_viewer.py`	`tesseract_shapes_viewer`	Basic shapes in viewer
`tesseract_material_mesh_viewer.py`	`tesseract_material_mesh_viewer`	Materials and meshes
`abb_irb2400_viewer.py`	`tesseract_abb_irb2400_viewer`	Robot visualization
`twc_workcell_positioner_viewer.py`	`tesseract_twc_workcell_positioner_viewer`	Industrial workcell (positioner, requires submodule)

Prerequisites¶

Most examples require:

Python

# tesseract_robotics installed
import tesseract_robotics

# For visualization
from tesseract_robotics.viewer import TesseractViewer

Install the package:

Bash

pip install tesseract-robotics-nanobind

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.