# API Reference

## Types

Frozen dataclasses used throughout the framework.

```{eval-rst}
.. automodule:: TyGrit.types.geometry
   :members:
   :undoc-members:

.. automodule:: TyGrit.types.robot
   :members:
   :undoc-members:

.. automodule:: TyGrit.types.sensor
   :members:
   :undoc-members:

.. automodule:: TyGrit.types.planning
   :members:
   :undoc-members:

.. automodule:: TyGrit.types.grasp
   :members:
   :undoc-members:

.. automodule:: TyGrit.types.results
   :members:
   :undoc-members:

.. automodule:: TyGrit.types.failures
   :members:
   :undoc-members:
```

## Utilities

Pure functions for math, transforms, and point cloud processing.

```{eval-rst}
.. automodule:: TyGrit.utils.math
   :members:
   :undoc-members:

.. automodule:: TyGrit.utils.transforms
   :members:
   :undoc-members:

.. automodule:: TyGrit.utils.pointcloud
   :members:
   :undoc-members:

.. automodule:: TyGrit.utils.depth
   :members:
   :undoc-members:
```

## Protocols

```{eval-rst}
.. automodule:: TyGrit.planning.motion_planner
   :members:
   :undoc-members:

.. automodule:: TyGrit.perception
   :members:
   :undoc-members:

.. automodule:: TyGrit.envs.base
   :members:
   :undoc-members:
```