IKFast solver: joint not working

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IKFast solver: joint not working

dejamzo
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Hi all, I am attempting to implement the IKfast solver for my robot arm in Moveit. When using the default KDL solver, the inverse kinematics work fine. However, when I generate the IKfast solver, it seems that one of my wrist joints will not move - its solver output is always 0.

For reference, I have uploaded my URDF file and solver files
robot_arm.urdf

ikfast61_arm.cpp

I suspect the issue is probably something simple...

Any help would be greatly appreciated!