CoppeliaSim forums

Hello,

I'm using CoppeliaSim to find an optimal robotic arm base location with respect to a specific set of target.
To do so, I have my scene with a robotic arm, the desired target dummies, and a bunch of potential base positions.
I have a script which put the arm in a base, try the IK solver from that base to all targets, and move to the next base.

It works well except that for the same base/target system, if I run the script multiple time, I may sometimes find some possible IK configs, sometimes not. I assume it is due to the IK solver which is random based, but is there a way to be more consistent ?
(For info, my model is set up exactly as in the tutorial scene "simpleManipulatorPathPlanning" for the IK part)

Have a good day,

Thibaut

Hello Thibaut,

indeed, the function simIK.findConfigs /simIK.findConfig is randomly trying out various initial configurations, from where a desired pose can be reached via a linear motion. The thing you could do it rewrite that function in Lua, so that you can control how the random generator picks random initial configurations.

Cheers