Tesseract Python

Platform	CI Status
Linux (Focal)
Windows
Wheels

tesseract_python contains Python wrappers for the Tesseract robot motion planner, generated using SWIG. These wrappers contain most of the Tesseract functionality, including scene loading and management (URDF,SRDF, meshes), collision checking (Bullet, FCL), kinematics (KDL, OPW, UR), planning (OMPL, Descartes, TrajOpt), and visualization (tesseract_viewer_python)

Standalone packages are provided on PyPi (pip install) for Windows and Linux, containing all the native dependencies for Python 3.7+.

Note that these are low level wrappers. The lifecycle of objects follow the underlying C++ objects, meaning that the target of C++ references may be destroyed before the reference, leading to a memory error. These wrappers do not attempt to change the memory lifecycle of the underlying C++ objects.

Installation

Standalone packages are provided on PyPi (pip install) for Windows and Linux, containing Tesseract, Tesseract Planning, andall the native dependencies for Python 3.7+. These packages have been tested on Windows 10, Ubuntu 20.04, and Ubuntu 22.04, but should work on any relatively recent x64 Windows or Linux operating system. Packages are available for Python 3.7 - 3.10.

To install on Windows:

python -m pip install tesseract-robotics tesseract-robotics-viewer

To install on Ubuntu 20.04 and Ubuntu 22.04:

sudo apt install python3-pip python3-numpy
# The supplied version of pip on Ubuntu 20.04 is too old for manylinux_2_31, upgrade pip
python3 -m pip install -U pip
python3 -m pip install --user  tesseract_robotics tesseract_robotics_viewer

Example

ABB Tesseract viewer plan and viewer example:

Install tesseract_robotics and tesseract_robotics_viewer as shown in Installation section.

Clone tesseract and tesseract_python repositories to retrieve example assets. This is not necessary if the example assets are not used.

git clone --depth=1 https://github.com/tesseract-robotics/tesseract.git
git clone --depth=1 https://github.com/tesseract-robotics/tesseract_python.git

Set the TESSERACT_SUPPORT_DIR so the example can find the URDF resources:

Linux:

export TESSERACT_SUPPORT_DIR=`pwd`/tesseract/tesseract_support

Windows:

set TESSERACT_SUPPORT_DIR=%CD%/tesseract/tesseract_support

Now run the example!

Windows:

cd tesseract_python\tesseract_viewer_python\examples
python abb_irb2400_viewer.py

Linux:

cd tesseract_python/tesseract_viewer_python/examples
python3 abb_irb2400_viewer.py

And point a modern browser to http://localhost:8000 to see the animation!

Example source:

from tesseract_robotics.tesseract_common import FilesystemPath, Isometry3d, Translation3d, Quaterniond, \
    ManipulatorInfo
from tesseract_robotics.tesseract_environment import Environment
from tesseract_robotics.tesseract_common import ResourceLocator, SimpleLocatedResource
from tesseract_robotics.tesseract_command_language import CartesianWaypoint, Waypoint, \
    MoveInstructionType_FREESPACE, MoveInstructionType_START, MoveInstruction, Instruction, \
    CompositeInstruction, flatten
from tesseract_robotics.tesseract_process_managers import ProcessPlanningServer, ProcessPlanningRequest, \
    FREESPACE_PLANNER_NAME
import os
import re
import traceback
from tesseract_robotics_viewer import TesseractViewer
import numpy as np
import time
import sys

TESSERACT_SUPPORT_DIR = os.environ["TESSERACT_SUPPORT_DIR"]

class TesseractSupportResourceLocator(ResourceLocator):
    def __init__(self):
        super().__init__()
    
    def locateResource(self, url):
        try:
            try:
                if os.path.exists(url):
                    return SimpleLocatedResource(url, url, self)
            except:
                pass
            url_match = re.match(r"^package:\/\/tesseract_support\/(.*)$",url)
            if (url_match is None):
                print("url_match failed")
                return None
            if not "TESSERACT_SUPPORT_DIR" in os.environ:
                return None
            tesseract_support = os.environ["TESSERACT_SUPPORT_DIR"]
            filename = os.path.join(tesseract_support, os.path.normpath(url_match.group(1)))
            ret = SimpleLocatedResource(url, filename, self)
            return ret
        except:
            traceback.print_exc()

abb_irb2400_urdf_fname = FilesystemPath(os.path.join(TESSERACT_SUPPORT_DIR,"urdf","abb_irb2400.urdf"))
abb_irb2400_srdf_fname = FilesystemPath(os.path.join(TESSERACT_SUPPORT_DIR,"urdf","abb_irb2400.srdf"))

t_env = Environment()

# locator_fn must be kept alive by maintaining a reference
locator = TesseractSupportResourceLocator()
t_env.init(abb_irb2400_urdf_fname, abb_irb2400_srdf_fname, locator)

manip_info = ManipulatorInfo()
manip_info.tcp_frame = "tool0"
manip_info.manipulator = "manipulator"
manip_info.working_frame = "base_link"

viewer = TesseractViewer()

viewer.update_environment(t_env, [0,0,0])

joint_names = ["joint_%d" % (i+1) for i in range(6)]
viewer.update_joint_positions(joint_names, np.array([1,-.2,.01,.3,-.5,1]))

viewer.start_serve_background()

t_env.setState(joint_names, np.ones(6)*0.1)

wp1 = CartesianWaypoint(Isometry3d.Identity() * Translation3d(0.8,-0.3,1.455) * Quaterniond(0.70710678,0,0.70710678,0))
wp2 = CartesianWaypoint(Isometry3d.Identity() * Translation3d(0.8,0.3,1.455) * Quaterniond(0.70710678,0,0.70710678,0))
wp3 = CartesianWaypoint(Isometry3d.Identity() * Translation3d(0.8,0.3,1) * Quaterniond(0.70710678,0,0.70710678,0))

start_instruction = MoveInstruction(Waypoint(wp1), MoveInstructionType_START, "DEFAULT")
plan_f1 = MoveInstruction(Waypoint(wp2), MoveInstructionType_FREESPACE, "DEFAULT")

program = CompositeInstruction("DEFAULT")
program.setStartInstruction(Instruction(start_instruction))
program.setManipulatorInfo(manip_info)
program.append(Instruction(plan_f1))

planning_server = ProcessPlanningServer(t_env, 1)
planning_server.loadDefaultProcessPlanners()
request = ProcessPlanningRequest()
request.name = FREESPACE_PLANNER_NAME
request.instructions = Instruction(program)

response = planning_server.run(request)
planning_server.waitForAll()

assert response.interface.isSuccessful()

results = flatten(response.problem.getResults().as_CompositeInstruction())

viewer.update_trajectory(joint_names, results)

if sys.version_info[0] < 3:
    input("press enter")
else:
    input("press enter")