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### Trouble with Moveit iKFast

Hello, I am in need of some guidance.

I'm working on a 5DOF robot manipulator and trying to use it with MoveIt! I found out that its not possible to use the IK solver that comes by default. So I tried creating an IKFast solver using TranslationDirection5D, however it fails to generate the IK Solver: self.CannotSolveError('failed to find a variable to solve') __main__.CannotSolveError: 'failed to find a variable to solve' sigh...

Know I am at a point where I think I need to create my own IK Solver. So I'm asking for any hint on where to start on writing this code.