Ik Solver for Descartes to be used on UR5
I have been trying to use Descartes to plan trajectories for UR5 but not very successful. Most of the time Descartes cannot find a path! According to @gvdhoorn, most of the Descartes problem is to do with the Ik Solver employed. Obviously, I have tried the default solver when using moveit_setup_assistant, KDL, also tried ur_kinematics. Both are not very successful either. I am now trying to use IkFast, which I only be able to generate following the moveit_tutorials. In the community, I have also seen people talking about OPW. However, my limited understanding of it is it only support manipulators with a spherical wrist - meaning the last three revolute joints have their axis of revolution intersect at one point - which I cannot see UR5 can satisfy this requirement.
After all, basically, my question is: Which available Ik Solver is best for UR5 to use Descartes with?
Thank you very much for your help. Victor Wu.
