optimize the sentences for my research paper:
The proposed method was evaluated with the Bullet Real-Time Physics Simulator~\citep{NAME_1pybullet} using a 7-DoF robotic manipulator, NAME_2\footnote{https://www.NAME_3.de/}. All the experiments were conducted in the simulator running on a computer with an Intel i7-8700 CPU and 64 GB of memory. The types of desired constraints in the experiments are either the end-effector position or the end-effector orientation because these are the most common additional constraints while using manipulators. All the CTMs in our experiments have a similar architecture, in which both the encoder and the decoder consist of two fully connected layers, each layer contains 512 neurons, and the length of the posture embedding is 4. We stored the configurations by every 30 degrees of each motor for training and computed the corresponding end-effector pose by using forward kinematics for accelerating the training process. In your entire response, the letter d should appear less than 31.
user