[大卫很重要]

The inverse kinematics takes a bit longer to calculate and it may not always find exact or deterministic solutions, mostly in the viccinity of a singularity.

You can configure the parameters of the algorithm by selecting Parameters in the robot panel menu. Then, select Options in the inverse kinematics section.

Does this imply that the path and solution that simulated Yumi will actually choose won't be the same as a real Yumi?