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[Opentissue+SmartBody] Problem with two-handed reaching.

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Has anyone experimented with the two-handed reaching problem with opentissue?
I just couldn't get it right, when both hands are targeted at different handles of
the pawn, the mesh is seriously deformed.
I used to be experimenting with Smartbody as well, the two-handed reaching algorithm also
hasn't been implemented yet. How do I get around with this problem?

The first picture is to use the right hand

The second picture is to use the left hand

The third picture is to use both hands


Edited by lucky6969b

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Just wondering are there any books that discuss IK algorithms?
Such things like
The projected steepest descent algorithm.
Sorry, Can't name any because I had no pre-knowledge of this.

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