cancel path optimization of motion planner

edit

Hi, I am working on a UR10 robot that has to follow a circular path to do a certain operation along that path. But at the moment the robot says it only followed 15 percent of the actual path that had been given at the start. Is there a way to shutdown the path optimization of this specific trajectory so i can then start it up again when a different trajectory is required? I am currently working with moveit and the OMPL planner. I have no concern for computation time as i will store the approved trajectory because it has to be repeated a number of times.