Can the inverse kinematics solver in MATLAB handle a robot with non-spherical wrist?

I am trying to create a painting robot with non-spherical wrist from the Robotics Toolbox using rigidbodytree and other supporting solvers and tools. The documentation on the inverseKinematics solver does not explicitly mention whether it can handle such a robot.

Answer 1

[Karsh Tharyani]

Yes, it should be supported.

Please reach out to Technical Support with your specific use case should you run into any issues.

[SNS]

Thank you for the clarification.