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As stated here:
https://answers.ros.org/question/263925/generating-an-ikfast-solution-for-4-dof-arm/?answer=366003#post-id-366003
We developed a Docker image that is slightly simpler to use (then OpenRave's one) and it also generates Python library:
https://github.com/cyberbotics/pyikfast
To generate *.cpp files one command is enough:
docker run -v [folder_with_robot.urdf]:/output cyberbotics/pyikfast [base_link] [effector]
The command above will also generate a Python library, so you can install as:
pip3 install [folder_with_robot.urdf]
Let me know if you any suggestion how to improve the script!
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