---
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.