Hey all, we’ve recently released a calibration tool that greatly improves the ux of trajectory mode. It works by calibrating dynamic limits for the splined trajectories, enabling the robot to accurately track feasible trajectories and reject those it’s unable to track. In addition, we’ve released a series of bug-fixes for the SDK, so the trajectory mode API, both in Python and ROS2, should be easier to use.
I think this should solve most/all the problems in this thread. Details here: Calibrate Dynamic Limits for Reliable Trajectory Tracking