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complete the teaching function. If the drag teaching is
completed, switch back to mode 0.
Note for safe use: Before turning on the joint teaching mode, be sure to
confirm that the installation direction of the robotic arm and the TCP
load are set correctly, otherwise the arm may not be able to remain
stationary due to inaccurate gravity compensation
Click to see code:record_trajectory(),playback_trajectory()
● Mode 4: Joint velocity control mode.
Click to see code:vc_set_joint_velocity()
● Mode 5: Cartesian velocity control mode
Click to see code:vc_set_cartesian_velocity()
● Mode 6: Joint online trajectory planning mode
Command sent by set_servo_angle() In this mode, every time a
motion command is received, the current motion command will be
interrupted, and then the motion command will be planned and
executed from the current position, and the latter motion command can
be interrupted Ongoing movement guide
Click to see code: mode(6)
● Mode 7: Cartesian online trajectory planning mode
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