Which IK Solver and Manipulator model for UR5 to work Best with Descartes

[blackhorsewu]

I am using a UR5 with Melodic on Ubuntu 18.04 trying to use Descartes to plan joint trajectories for the manipulator.

It does not always find a valid trajectory even when the poses of the way points are valid. When it finds trajectory, it does not give the same trajectory for the same set of way points.

I have been trying to use ur_kinematics/UR5KinematicsPlugin with IkFastMoveitStateAdapter to build the robot model. I have also used kdl_kinematics/KDLKinematicsPlugin and used MoveitStateAdapter to build the robot model. Neither of them give satisfactory results!

Your help and advice will be very much appreciated.