Apple have demo with control 3d robot with 3d pose estimation. Everything connects together and works like magic. No SceneKit used.
https://developer.apple.com/documentation/arkit/content_anchors/capturing_body_motion_in_3d
I'm trying control same robot manually in SceneKit. Come up with inconvenient approach:
let rightHand = skeleton?.childNode(withName: "right_hand_joint", recursively: true)
rightHand?.rotation = SCNVector4(0, 1, 0, .pi / 2.0)
rightHand?.parent?.rotation = SCNVector4(0, 1, 0, .pi / 2.0)
Is there some other approach, where I can set location of the joints and it will automatically calculates angles for skeleton? All other example that I found loads some animations from .dae files.