Unable to generate working IKFast for Nao robot's 5DoF arm
For the past few days I've been trying to generate an IKFast solver for the Aldebaran Nao robot's 5DoF arm. Initially I generated one using the TranslationDirection5D type and it works fine, but then the need to come up with multiple solutions arose, so I decided to try Translation3D with two free joints. The problem is that I've tried four different combinations of free joints, but none of them succeed in generating any solution.
To test the solver, I'm using a brute force technique where I've divided the range for the first free joint into 10 intervals. Then for each interval, the second joint's range is divided into 10 intervals and each combination is given to the IK solver (so basically the solver is given 100 different, valid combinations of the free joint values).
Then this entire procedure is repeated for 100 different, valid end effector poses. Not once does the solver succeed. I don't think I'm making any mistake in passing arguments to the solver since the 5D solver works just fine (the only alteration here was to pass a null pointer for the rotation and include the free parameter values).