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hi guys, please change the direction and origin of the <manipulator> tag as follows:

<direction>1 0 0</direction>
<translation>0 0 -0.03</translation>

when selecting the robot in openrave, you should see the black arrow normal to the gripper surface. this is the most useful form of 5D ik, and ik results are:

openravepy.databases.inversekinematics: success rate: 0.890000, wrong solutions: 0.000000, no solutions: 0.110000, missing solution: 0.079000

You originally had it pointing toward the z-axis, which aligned with one of the joint axes. if you still need z-axis direction, i'll look into the problem and report.