IK Dependent on Default Model Position?

[Brody Hicks]

Why does the Inverse Kinematics Result depend on the default position of the model?

Thanks,
Brody

[Thomas Uchida]

InverseKinematicsSolver calls assemble() at the first time step, which finds the closest configuration of the model that meets the tracking goals at the first time step of the data. This optimization problem is nonlinear with many acceptable solutions in general (depending on the model, tolerance, goals, etc.), so the solution that is returned will depend on the initial guess in general.

[Brody Hicks]

Thank you Thomas!