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This isn't a full solution, but I tried it in a new file and the solveIK VOP works. It gets a little unstable as the number of joints increases (I'm getting flipping as the joints compress). But it works. The weird part is that when I try to duplicate the same thing in your file, it doesn't work. I'm not exactly sure why yet. Still looking into it. But try opening up my file and see if you get the behavior you expect. IK_multi_joint_v01.hiplc

That's look really cool Tesan, you finally find our way out to what i could see