problems in function inverse_kinematics_np

[azuki-miho]

In the 58th line of common/skeleton.py, the order of "l_hip, r_hip, sdr_r, sdr_l = face_joint_idx" is different from the comment "right hip, left hip, right shoulder, left shoulder", whether this will influence the processed data?

Meanwhile, in the 74th line of the common/skeleton.py, "root_quat = qbetween_np(forward, target)" is the rotation from forward to the [0,0,1], whether it should be the rotation from [0,0,1] to the forward?