Found 2 ik solutions:
sol0 (free=0): -2.507510185241699, 2.056815862655639, 0.000000000000000,
sol1 (free=0): 0.634082468348094, 0.564002763409552, 0.000000000000000
I am assuming that there is a problem with the urdf file or maybe in the fact, that in the translation I am not supplying information from the srdf file.
Can you suggest what should be done in this situation?
It seems that the last two joint should not be used for Translation3D, but is it a correct approach? Also, the number in compute stop to behave reasonably if I give non-zero inputs on the free joints (the output of IK seems to be always 0 on the free joints).