inverse kinematics problem for 7 DOF system

I wan to create a inverse kinematic model for robot arm that has 7 DOFs. The soulder complex will have 3 DOFs (3 rotations), elbow will have one and wrist wilol have 3. Can I fins some similar explanation of the problem here somewhere?

Thank you Tea

[KARSH THARYANI]

Hi Tea,

As you might have seen already, the RigidBodyTree class only supports Joint objects of the type prismatic, revolute, and fixed see here. Hence, in case you are trying to define this tree for the joints that you have, it would be best to break your joints to an equivalent joint made up of these three joints.

May I know which joint you are trying to model?