move_to_pose.py result not consistent with book

Describe the bug move_to_pose.py simulation result not consistent with book. The trajectory is obviously not consistent with the book, fig. 4.14

Expected behavior The trajectory should at least look similar to book's simulation result.

Screenshots

1. Books' simulation result
2. code simulation result(with same param kpho=3, kalpha=8, kbeta=3) Note that I have already consider the case that kbeta_book = -kbeta_code