{"id":13445558,"url":"https://github.com/hungpham2511/toppra","last_synced_at":"2025-03-20T21:30:52.698Z","repository":{"id":23216278,"uuid":"97661949","full_name":"hungpham2511/toppra","owner":"hungpham2511","description":"robotic motion planning library","archived":false,"fork":false,"pushed_at":"2024-01-15T13:27:09.000Z","size":12065,"stargazers_count":609,"open_issues_count":33,"forks_count":168,"subscribers_count":25,"default_branch":"develop","last_synced_at":"2024-09-01T05:36:37.295Z","etag":null,"topics":["motion-planning","robotics","robotics-algorithms","topp"],"latest_commit_sha":null,"homepage":"https://hungpham2511.github.io/toppra/index.html","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/hungpham2511.png","metadata":{"files":{"readme":"README.md","changelog":"HISTORY.md","contributing":null,"funding":".github/FUNDING.yml","license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null},"funding":{"github":["hungpham2511"]}},"created_at":"2017-07-19T02:03:19.000Z","updated_at":"2024-08-30T13:35:30.000Z","dependencies_parsed_at":"2024-04-16T19:58:14.139Z","dependency_job_id":"50128533-7f79-4da7-acd8-ff671744e03e","html_url":"https://github.com/hungpham2511/toppra","commit_stats":null,"previous_names":[],"tags_count":24,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hungpham2511%2Ftoppra","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hungpham2511%2Ftoppra/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hungpham2511%2Ftoppra/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hungpham2511%2Ftoppra/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/hungpham2511","download_url":"https://codeload.github.com/hungpham2511/toppra/tar.gz/refs/heads/develop","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":221807734,"owners_count":16883639,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["motion-planning","robotics","robotics-algorithms","topp"],"created_at":"2024-07-31T05:00:35.934Z","updated_at":"2025-03-20T21:30:52.692Z","avatar_url":"https://github.com/hungpham2511.png","language":"Python","funding_links":["https://github.com/sponsors/hungpham2511"],"categories":["6. Planning","Planning and Control"],"sub_categories":["3.4 High Performance Inference","Vector Map"],"readme":"# `toppra`: Time-Optimal Path Parameterization\n![Integrate](https://github.com/hungpham2511/toppra/actions/workflows/integrate.yml/badge.svg)\n\n\n- [Overview](#overview)\n- [Supports](#supports)\n- [Citing `toppra`](#citing--toppra-)\n\n\n# Overview\n\n**toppra** is a library for computing the time-optimal path\nparametrization for robots subject to kinematic and dynamic\nconstraints.  In general, given the inputs:\n\n1. a geometric path `p(s)`, `s` in `[0, s_end]`;\n2. a list of constraints on joint velocity, joint accelerations, tool\n   Cartesian velocity, et cetera.\n\n**toppra** returns the time-optimal path parameterization: `s_dot\n(s)`, from which the fastest trajectory `q(t)` that satisfies the\ngiven constraints can be found.\n\n**Documentation and tutorials** are available\n[here](https://hungpham2511.github.io/toppra/index.html).\n\nYou can install the package with pip:\n\n``` shell\npip install toppra\n```\n\nTo install from source for development:\n\n``` shell\npip install -r requirement3.txt\npip install -e .\n```\n\n# Support\n\n## Bug tracking\nPlease report any issues, questions or feature request via \n[Github issues tracker](https://github.com/hungpham2511/toppra/issues).\n\nHave a quick question? Try asking in our slack channel.\n\n## Contributions\nPull Requests are welcome! Create a Pull Request and we will review\nyour proposal!\n\n# Credits\n\n`toppra` was originally developed by [Hung\nPham](https://hungpham2511.github.com/) ([Eureka Robotics](https://eurekarobotics.com/), former [CRI\nGroup](https://personal.ntu.edu.sg/cuong/)) and [Phạm Quang Cường](https://personal.ntu.edu.sg/cuong/)\n(Eureka Robotics, CRI Group) with major contributions from talented\ncontributors:\n- [Joseph Mirabel](https://github.com/jmirabel) (C++ API)\n- EdsterG (Python3 support).\n\nIf you have taken part in developing and supporting the library, feel\nfree to add your name to the list.\n\nThe development is also generously supported by [Eureka Robotics](https://eurekarobotics.com/).\n\n# Citing toppra\nIf you use this library for your research, we encourage you to \n\n1. reference the accompanying paper [A new approach to Time-Optimal Path Parameterization based on Reachability Analysis](https://www.researchgate.net/publication/318671280_A_New_Approach_to_Time-Optimal_Path_Parameterization_Based_on_Reachability_Analysis),\n   *IEEE Transactions on Robotics*, vol. 34(3), pp. 645-659, 2018.\n2. put a star on this repository.\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhungpham2511%2Ftoppra","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fhungpham2511%2Ftoppra","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhungpham2511%2Ftoppra/lists"}