copp-py Python Documentation

copp_py is the Python interface to the COPP path-parameterization core. It converts a geometric path

\[q = q(s)\]

into a time law

\[s = s(t)\]

that satisfies path, velocity, acceleration, torque, and jerk constraints while optimizing either traversal time or a convex objective. The Python API groups the solver families into namespace modules, uses NumPy arrays, and supports optional Python automatic-differentiation backends for path construction.

Guide:

• Quickstart
  • Minimal TOPP2-RA Example
  • Import Style
  • Next Steps
• Concepts
  • Optimal Path Parameterization
  • Solver Selection
• Tutorials
  • TOPP2-RA
  • TOPP2 Reach Sets
  • COPP2-SOCP
  • TOPP3-SOCP
  • COPP3-SOCP
• How-To Guides
  • Build Paths and Constraints
  • Convert Profiles to Time Samples
  • Errors and Diagnostics

Reference:

• API Reference
  • Core
  • Interpolation
  • Path
  • Robot And Constraints
  • Objectives
  • Clarabel
  • TOPP2
  • COPP2
  • TOPP3
  • COPP3