export HOME=/tmp
#python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=open_manipulator.dae --iktype=translationzaxisangle4d --baselink=0 --eelink=5
+# https://answers.ros.org/question/263925/generating-an-ikfast-solution-for-4-dof-arm/
openrave0.9.py --database inversekinematics --robot=open_manipulator.xml --iktype=translationzaxisangle4d
# test