Tesseract Python (nanobind)

Note: This is a friendly fork of tesseract_python that replaces SWIG bindings with modern nanobind bindings.

Python bindings for Tesseract robotics motion planning using nanobind.

Documentation

Maintained in /docs and published to https://tesseract-robotics.github.io/tesseract_nanobind/

Features

• Scene loading and management (URDF, SRDF, meshes)
• Collision checking (Bullet, FCL)
• Kinematics (KDL, OPW, UR)
• Motion planning (OMPL, Descartes, TrajOpt, TrajOpt IFOPT, simple planners)
• Constraints written in Python for the online SQP solver (trajopt_ifopt.python_constraints)
• Time parameterization (TOTG, ISP, constant TCP speed, Ruckig)
• Task composition and pipelines
• Pythonic high-level API

For an overview of Tesseract’s architecture and features, see this presentation on Vimeo

Test suite

3900+ pytest tests in tests/, mirroring the module layout (collision, kinematics, task_composer, trajopt_sqp,…