track_ik reference system

[Former user]

Hi,

Thanks for this nice library!

I'm currently comparing IK of ROS (via move group) with Trac-IK using python.

One big difference I'm encountering is that in ROS the position and orientation are absolute: in a humanoid robot with two end effectors, if I specify the same target position to both end effectors, they would converge to the same position. In trac-IK, however, it looks like the position (and orientation) is relative to the starting link of the end effector.

Is there a way to specify to use an absolute reference instead?