Issue regarding wavepoints

[abhaygzb15]

Hey!
I have been working on motion planning for kuka LBR. I have used your codes for reference, but I am facing some issues with it. The simulation works well on Coppelia sim for the defined way points, but it fails when the way points are altered. I have been trying to fix it, but haven't succeeded yet. Kindly guide me on what changes should be made in the existing code to make the simulation work. 
Thanks.

[LeoBrizi]

How did you modify the simulation environment? Did you also change the positions in the main script.