Not all solution for complexe kinematics

[Tokrat]

I am creating a program which need lots of robot to be simulated, ikfast works most of the time but i struggle with one robot:

https://github.com/ros-industrial/fanuc_experimental/tree/melodic-devel/fanuc_crx10ia_support

When ikfast.py run, i get lots of line like this:

WARNING: failed with leftvar htj0: CannotSolveError: solveDialytically: more unknowns than equations 12>8
WARNING: failed with leftvar htj0: CannotSolveError: solveDialytically: more unknowns than equations 12>8
WARNING: failed with leftvar htj0: CannotSolveError: solveDialytically: more unknowns than equations 12>8

It end up with a solution quite fast (a few minutes). But it seems that his architecture is too complexe (probably because of the wrist). My problem is that even if my program works fine, most of the time it only find "bad" solutions, they are correct but most of the time the worst possible. I saw someone having this kind of problem in this issue. But I wasn't able to use (or even to find anything in openrave) extraprec & maxsteps

#408 (comment)

Any help with that ?

Edit: i think i figured out how to try "extraprec" and "maxsteps". It didn't help at all, the ikfast.cpp file generated is not even different