4dof ik_fast

[Rogerpi]

Hi,

I'm trying to generate a workspace map of a 4dof arm. I'm using reuleaux package (http://wiki.ros.org/reuleaux) and to use it I need to generate the inverse kinematics file of the arm. I had some troubles, and finally I could make it run without errors with iktype=translation3d : python openrave-config --python-dir/openravepy/openravepy/ikfast.py --robot=csip.rounded.dae --iktype=translation3d --baselink=1 --eelink=5 --savefile=ikfast_csip.cpp

But when trying to use it, no positions can be reached. Months ago I tryied to use moveit! with this arm and I had lots of problems also. Does anybody know where can the problem be?

Thanks a lot