TOPP-RA is a library for computing the time-optimal path parametrization for robots subject to kinematic and dynamic constraints. In general, given the inputs:
- a geometric path
p(s),sin[0, s_end]; - a list of constraints on joint velocity, joint accelerations, tool Cartesian velocity, et cetera.
TOPP-RA returns the time-optimal path parameterization: s_dot (s), from which the fastest trajectory q(t) that satisfies the given
constraints can be found.
Documentation and tutorials are available at (https://toppra.readthedocs.io/en/latest/index.html).
To install TOPP-RA, simply clone the repo and install with pip
git clone https://github.com/hungpham2511/toppra
cd toppra && pip install .To install depencidencies for development, replace the second command with:
cd toppra && pip install -e .[dev]If you use this library for your research, we encourage you to
- reference the accompanying paper «A new approach to Time-Optimal Path Parameterization based on Reachability Analysis», IEEE Transactions on Robotics, vol. 34(3), pp. 645–659, 2018.
- put a star on this repository.
Please report any issues, questions via Github issues tracker.
It will be very helpful if you can provide more details on the errors/bugs that you encounter. In fact, the best way is to provide a Minimal Working Example that produces the reported bug and attach it with the issue report.
Pull Requests are welcomed! Go ahead and create a Pull Request and we will review your proposal! For new features, or bug fixes, preferably the request should contain unit tests. Note that TOPP-RA uses pytest for all tests. Check out the test folder for more details.