README.md

metadata

title: Capacity Aware Trajectory Planning
emoji: 🤖
colorFrom: blue
colorTo: green
sdk: docker
pinned: false

Capacity-Aware Trajectory Planning Comparison

This space demonstrates a comparison between capacity-aware real-time trajectory planning and TOPPRA (Time-Optimal Path Parameterization with Reachability Analysis) for robotic manipulators.

This space implements the paper: Online approach to near time-optimal task-space trajectory planning by Antun Skuric, Nicolas Torres Alberto, Lucas Joseph, Vincent Padois, David Daney Link: https://inria.hal.science/hal-04576076

Requirements

To run locally, you need the planning utilities from the catp repository.

To run the app locally

1. Clone this repository.
2. build the Docker image using the provided Dockerfile.

docker build -t catp .

3. Run the Docker container

docker run -p 7860:7860 catp

4. Open your web browser and navigate to http://localhost:7860 to access the app.