After getting the link info, we can start generating the IK solver CPP file for handling the IK of this robot.

Use the following command to generate the IK solver for the IRB 6640 robot:

    $ python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=irb6640.dae --iktype=transform6d --baselink=1 --eelink=8 --savefile=output_ikfast61.cpp
  

The preceding command generates a CPP file called output_ikfast61.cpp in which the IK type is transform6d, the position of the baselink is 1, and the end effector link is 8. We need to mention the robot DAE file as the robot argument.

We can test this file using the following procedure:

1. Download the IKFast demo code file from http://kaist-ros-pkg.googlecode.com/svn/trunk/arm_kinematics_tools/src/ikfastdemo/ikfastdemo.cpp.
2. Also, copy IKFast.h to the current folder. This file is present in the cloned file of OpenRave. We will get this header from openrave/python.

3. After getting output_ikfast61.cpp, ikfastdemo.cpp, and ikfast.h on the same folder, we need to edit ikfastdemo.cpp and change the following portion. Here, we are commenting a header, and instead of that, we add the CPP file that we have generated, that is output_ikfast61.cpp.

#define IK_VERSION 61 
#include "output_ikfast61.cpp" 
//#include "ikfast61.Transform6D.0_1_2_3_4_5.cpp" 

4. Compile the edited file and check whether you are getting any errors. Here is the command to compile and execute this code:

    $ g++ ikfastdemo.cpp -lstdc++ -llapack -o compute -lrt
    $ ./compute
  

If the demo is working, we can go to the next step. Now, we have successfully created the IK solver CPP file; the next step is to create a MoveIt! IK Fast plugin using this source code.