Hi there,

I would like to use your library for my inverse kinematics of Ergonomic project ,however the instructions are not very clear for a beginner.Mainly lie in the input and output of rotations.The questions can be listed as follows:
1、Before ik.solver.solve(solver)，should we set the rotations of root->rotation and target->rotation in global space ?
At the same time,should we set the rotation of child->rotation in local space?
2、After ik.solver.solve(solver)，I want to get the rotation of each joint in order to realize the inverse kinematics,but I don't know whether the rotation that I get is a global rotation or a local rotation?
3、After ik.solver.solve(solver)，whether the joint's rotation that I get is a delta rotation?

What's more,I have tried several forms of input and output of rotations, but the result is always unsatisfactory.Look forward to hearing from you.