Multiple end effectors in the API?

[Joe Ramsay]

Apologies if this isn't the right place to ask this, but I couldn't find anywhere else. I'm trying to refine run inverse kinematics with a human model, where both hands and feet are fixed. I'm hoping to be able to do this with trac_ik, using the left hand as a fixed point of reference and the other three joints as end effectors.

I'm not working within ROS, so I'd like to use the library, as described on this page. I can't see any way to set multiple endpoint effectors before running IK on the model - is this possible, and is there an example of it being done anywhere?

Any help would be really appreciated!

[Patrick Beeson]

TRAC_IK uses KDL chain parsing of the URDF description. Because IK runs on chains, you can't have branches or loops in the chains.