Generating many trajectories and trajectory filter without ShortCutter

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Hello

I am trying to generate diverse set of trajectories for doing a given task (e.g. moving an object from A to B). Currently I am generating such a set of trajectories by changing goal bias of RRT algorithm. All the trajectories obtained using this method have different number of points and hence they should be different. But after passing them through trajectory_filter all the trajectories becomes same and with same number of points.

From what I understand trajectory filter (CubicSplineShortCutterFilterJointTrajectoryWithConstraints) tries to both smoothen and shorten the trajectories. Is it possible to just obtain a smoothen trajectory without any shortening? I can't by-pass trajectory_filter because I also need the time and velocity information.

Moreover, I am not able to get the difference between trajectory_filter and joint_trajectory_generator. It appears to me that both servers almost the same purpose. But I guess joint_trajectory_generator onny smoothens the trajectory and doesn't do any kind of trajectory shortening.

Any help would be appreciated!!!

Thanks!!!