Inverse kinematics error / no valid IK solution found

[timonegk]

I try to use IKFast to generate an analytical solution for a 6R robot leg. The generated solution does not pass the tests (~7% success rate). I attached the dae file of the robot (txt file ending because of github's restrictions). Do you have any idea on the source of the problem?

robot_leg_simple.dae.txt wrapper.xml.txt