toppra
- Software
- Robot arms and industry
- Library
A Python library that computes time-optimal path parameterizations for robots under kinematic and dynamic constraints. It turns a geometric path into the fastest feasible trajectory.
Source on GitHub: github.com/hungpham2511/toppra (opens in a new tab). Facts read at commit 8121e9a (opens in a new tab).
Licenses
- Code
- MIT (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 8121e9a (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Takes a geometric path and constraints on joint velocity, joint acceleration, and tool Cartesian velocity.
- Returns the time-optimal path parameterization s_dot(s), from which the fastest trajectory q(t) can be derived.
- Installable with pip; a C++ version with bindings is suggested because Python support will be dropped.
- Documentation and tutorials are published online.
- Originally developed by Hung Pham and Phạm Quang Cường, with contributions for the C++ API and ROS support.
Written by Robotheca from the project's README (opens in a new tab) at commit 8121e9a.
Getting started
- Difficulty
- Advanced
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 28 Aug 2026 on develop
- Latest release
- Release 0.3.1 (23 Aug 2020)
Checked on GitHub on 16 Oct 2026.
Links
Robots on Robotheca that use it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.