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As stated here:

We developed a Docker image that is slightly simpler to use (then OpenRave's one) and it also generates Python library:

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!