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Please check if libconfigurationcache.so turns up in ldconfig -v.
Make sure you use an old python-sympy (version 0.7.1), newer do not work.

Please check if libconfigurationcache.so turns up in ldconfig -v.
Make sure you use an old python-sympy (version 0.7.1), newer do not work.

Btw why did you choose TranslationXAxisAngleZNorm4D? I don't see a translation in your urdf. It is not even implemented in the ros plugin, see ikfast61_moveit_plugin_template.cpp line 528

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