Hello everyone, I'm having a problem with the robot having a singularity point. In case the Position register has been taught the correct position (can't teach another position or change the base of the robot), I can adjust j4 and j6 to be opposite each other. to avoid singularity or not? For example, if j4 is 90 and j6 is -90, can I further adjust j4 to 95 and adjust j6 to -95 to avoid the singularity?