| | --- |
| | title: Capacity Aware Trajectory Planning |
| | emoji: 🤖 |
| | colorFrom: blue |
| | colorTo: green |
| | sdk: docker |
| | pinned: false |
| | --- |
| | |
| | # Capacity-Aware Trajectory Planning Comparison |
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| | This space demonstrates a comparison between **capacity-aware real-time trajectory planning** and **TOPPRA** (Time-Optimal Path Parameterization with Reachability Analysis) for robotic manipulators. |
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| | 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 |
| |
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| | ## Requirements |
| |
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| | To run locally, you need the planning utilities from the catp repository. |
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| | ## To run the app locally |
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| | 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. |
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