def METHOD_NAME(rave_env):
    import openravepy as orpy
    rave_env.Reset()
    rave_env.Load("data/lab1.env.xml")
    robot = rave_env.GetRobots()[0]
    manipulator = robot.GetManipulators()[0]
    robot.SetActiveDOFs(manipulator.GetArmIndices())
    # Generate IKFast if needed
    iktype = orpy.IkParameterization.Type.Transform6D
    ikmodel = orpy.databases.inversekinematics.InverseKinematicsModel(
        robot, iktype=iktype
    )
    if not ikmodel.load():
        print("Generating IKFast {0}. It will take few minutes...".format(iktype.name))
        ikmodel.autogenerate()
        print("IKFast {0} has been successfully generated".format(iktype.name))
    yield robot