How to reduce he length of the planned trajectory

[Entongsu]

Hi,

I wonder how to reduce the length of the planned trajectory. I have found it too long some times. Thank you.

[balakumar-s]

What's the robot you are using? The trajectory can be long if you have small velocity limits for the joints (<0.5 radians/sec).

[peter-mitrano-bg]

Perhaps you're just asking about the number of time steps? i.e if you need to plan very short motions? I've used something like this:

        self.motion_gen_config: MotionGenConfig = MotionGenConfig.load_from_robot_config(
            ...
            trajopt_tsteps=24,
        )

Or you could reduce the dt used for each step, instead of reducing number of steps using some other arguments:

            trajopt_dt: Optional[float] = None,
            js_trajopt_dt: Optional[float] = None,