The constraints for the symmetrical synthesis are already completely created at the beginning. However, additional constraints can be added later, which intentionally restrict the movability of certain joints. Joints can also be moved by their ending position if necessary.
The parameters of the plane-type conditions of the synthesis can also be changed later, in this case the vertical distance between the door and the wall at the end of the movement. Alternatively, the angle or horizontal distance for the ending condition or even the starting condition could also be changed.
Differently colored trajectories and purposefully named end nodes in the motion control, together with the simulation log, help to see exactly whether the second synthesis condition is reached or not, and in the latter case what is happening instead.
