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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]

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]