How to reduce the length of trajectory

[Entongsu]

Hi,

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

[scharalambous-sony]

By length, are you referring to the no of timesteps (or 'knots'), or the motion time? In either case, set a smaller minimum_trajectory_dt, set optimize_dt to True, set a higher interpolation_dt (note the interpolation_dt should be <= minimum_trajectory_dt), and set a smaller traj_tsteps I also recommend using Discussions for this type of questions!

[balakumar-s]

Moving to a discussion here: https://github.com/NVlabs/curobo/discussions/252