CoppeliaSim forums

This video illustrates how obstacle avoidance while performing inverse kinematics can be achieved in CoppeliaSim: each kinemaitc link can compute a distance to obstacles, and use that distance vector to enable/disable additional positional constraints for the kinematic chain.

This Demo does not seem to work fully anymore, the pendulum remains static while the simulation is running.

You are right, thanks for the mention.

Cheers