I am working with the [nao_moveit_config](https://github.com/ros-naoqi/nao_moveit_config), and I am trying to create the cpp file for the right_leg chain. I have been following the [MoveIt! ikfast tutorial](http://docs.ros.org/hydro/api/moveit_ikfast/html/doc/ikfast_tutorial.html) instructions.
The right leg chain contains a mimic joint for LHipYawPitch mimicking RHipYawPitch. I am able to create the cpp file for the left leg just fine with the command:
python /ikfast.py --robot=nao.dae --iktype=transform6d --baselink=1 --eelink=31 --savefile=ikfast61_leg_left.cpp
However when I try to create the right leg the same way as the left leg, the I get the error
> CannotSolveError: 'need 6 joints'
and using iktype `translationdirection5d` the error is
> ValueError: No nonzero pivot found; inversion failed.
Can anybody explain where I am going wrong? How can I create the ikfast cpp file for a chain containing a mimic link?
Any help would be appreciated. Thanks.
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