Smooth the trajectory

[Entongsu]

Hi,

I wonder whether there is any way to make the trajectory smoother. I have found that sometimes, the robot's trajectory is not smooth enough. Thank you!

[balakumar-s]

Increasing finetune_trajopt_iters will generate smoother trajectories. A good starting value would be 500. If increasing this value does not help, you can reduce trajopt_dt to 0.1 and see if that helps. Both of these values are in https://curobo.org/_api/curobo.wrap.reacher.motion_gen.html#curobo.wrap.reacher.motion_gen.MotionGenConfig.load_from_robot_config

If you are observing non-smooth trajectories when running at a velocity_scale<1.0, we pushed a recent release where you can use time_dilation_factor to slow down trajectories instead of changing velocity_scale.