low_p = np.array([-6.28, -1.48, -2.8, -1.48, -6.28, -6.28])
high_p = np.array([6.28, 4.62, 2.8, 4.62, 6.28, 6.28])
v_lim = np.array([2.0, 2.0, 2.6, 3.14, 3.14, 3.14])
a_lim = np.array([6.0, 6.0, 8.0, 10.0, 10.0, 10.0])
j_lim = np.array([70.0, 60.0, 80.0, 100.0, 100.0, 100.0])
start_pos = np.array([1.54895, 0.489029, -1.21306, 3.20465, -1.83886, 2.43109])
end_pos = np.array([-1.72593, 3.0917, 0.991633, 0.558518, 1.1474, -2.96836])
In this example, the starting point velocity and acceleration, as well as the ending point velocity and acceleration, are both 0. We found that after setting it to phase synchronization, it will eventually revert back to time synchronization. Is there any way to force phase synchronization？
In this example, the starting point velocity and acceleration, as well as the ending point velocity and acceleration, are both 0. We found that after setting it to phase synchronization, it will eventually revert back to time synchronization. Is there any way to force phase synchronization？