Unable to Find Time or Velocity Configuration for Generating Position Trajectory

[roboticszeng]

Issue: Unable to Find Configuration for Generating Position Trajectory

Description

I am trying to generate a position trajectory in Curobo with the following requirements:

• Total motion time: 10 seconds
• Joint motion maximum speed: 0.5 rad/s

However, I couldn't find suitable configuration options in the load_robot_config. I need assistance in configuring Curobo to meet these specifications.

Details

• Total Motion Time: 10 seconds
• Joint Maximum Speed: 0.5 rad/s

Steps to Reproduce

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Expected Behavior

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Actual Behavior

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Additional Information

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[roboticszeng]

I have attempted to adjust the max_acceleration and max_jerk parameters in the YAML file, as well as the scaling factors for velocity, acceleration, and jerk in the load_robot_config section. While I observed some improvement when setting these values relatively small, the trajectory planning fails whenever I make them too small, resulting in a 'TrajOpt Failed' error. Could you please provide guidance on how to appropriately configure these parameters