I am using Drake’s Clarabel optimizer to solve Drake’s Graph of Convex Sets(GCS) Trajectory Optimization class. I have added the path length cost and time cost functions to the gcs object. I have added a single cost and two constraints to each vertex (~140 vertices) in the main region. I am planning from a start region to a target region and get a solution within approximately 20 seconds. I have seen examples of solutions in under 1 second and am wondering what I can do to increase the speed of the solvers. I have set h_min=0, h_max=7, and bezier curve order=2. Ideally, my solver should take ~1-5 seconds to solve a single path, but solving in under 1 second would be the most useful for solving multiple cases.

What can I do to increase the speed of the solver?