TOPP-RA is a package for parametrizing trajectories for robot subject to kinematic and dynamic constraints. The current implementation supports the following constraints :

1. joint velocity and acceleration bounds;
2. torque bounds (including redundantly-actuated manipulators);
3. contact stability for legged robots.

Refer to the accompanying paper A new approach to Time-Optimal Path Parameterization based on Reachability Analysis for more details.

Install qpOASES by following the steps below:

git clone https://github.com/hungpham2511/qpOASES
cd qpOASES/ && mkdir bin && make
cd interfaces/python/
pip install cython
python setup.py install --user

Finally, install toppra with

git clone https://github.com/hungpham2511/toppra
cd toppra/
pip install -r requirements.txt --user
pip install -e . --user

And you are good to go. If you have openrave installed on your computer, you can run the below example to see toppra in action.

python examples/retime_rave_trajectory.py

Multi-contact and torque bounds. To use these functionality, the following libraries are needed:

1. openRAVE
2. pymanoid

openRAVE can be tricky to install, a good instruction for installing openRAVE on Ubuntu 16.04 can be found here.

To install pymanoid locally, do the following

mkdir git && cd git
git clone <pymanoid-git-url>
git checkout 54299cf
export PYTHONPATH=$PYTHONPATH:$HOME/git/pymanoid

To build and view the documentation, install sphinx then do

pip install sphinx_rtd_theme
cd <toppra-dir>/docs/
make clean && make html
<google-chrome> build/index.html

toppra uses pytest for testing. To run all the tests, do:

cd <toppra-dir>/tests/
pytest -v

if pytest is not installed, grab it from pip.