when u were laying out your joints u should have set them slightly bent toward the axis u want the ik to calculate from.
but u can disable the iks,
select the elbow [or knee joint] rotate them in the correct bent angle then right click on the joint and choose "set preferred angle"
then 0 them out again to default position then enable ik again
Last edited by vladimirjp; 07-12-2005 at 05:33 PM.