I'm playing Tales of Innocence R and have some questions about the story (potential spoilers)

Just want to make sure I understand th general stuff about the story.

I'm currently at the part where the party saved Ange from some robot and apparently she showed something to Ricardo and now he joined the party?

So basically all the main characters (Except Kongwai) are descendants of people from the 1000+ years ago?
Luca = Asura (the leader of the army?_
Iria = Innana (Asura's lover?)
Spada = Asura's Sword (lol)
Chitose = some girl friendzoned/ignored by Asura?
Ange = some random guy with spectacles?

So that said are the main reason the group is together because of their connection to their descendants? Any other real reason for them to be travelling together?

I'm going to guess the reason the group is captured by the guys in masks because they are aware they are descendants of those people in the past?

What's the deal with them transforming into those black things with swords?

IF Kongwai isn't a descendant how come he joins them?

Why did the group go that factory where you save Ange? How come Ricardo and Ange were there and how come they both decided to join (especially since Ricardo fought the group towards the beginning)

Lastly, as far as character personality goes//
Luca = super beta (basically the protoype to Emil) but probably feels like he belongs with how everyone else is a descendant
Iria = tsundere, likes to pick on Luca for some reason
Spada = kind of a bro to Luca (since he used to be his sword) but not above picking on him either
Kongwai = the mysterious guy who knows about their origins
Ange = just got her but she seems pretty calm
Ricardo = just got him but he seems like the serious and gets down to business kind of guy

They are not descendants, but reincarnations. And they are captured because (as reincarnations) they have access to heavenly artes (aka magic and other stuff), thus, they make a good asset in the war against Garam. The guys with the mask can block their heavenly artes, to prevent them from jail breaking.

Their main reason for travelling is because they want to remember more about their past, and discover the location of the "magical plot thing with a weird name", because they fear that Mathias would use it to destroy the world.

Those black things are the Ratio Soldiers that Asura fought, because they recognized Luca as Asura, the soldiers transformed into them by sheer rage.

They were asked to rescue Ange, Hartman told them that she was also a reincarnation and thus was captured by the army. They decided to help her and with the possibility that she may know something about the magical trinket. Ricardo was hired by someone to rescue Ange, and because she paid him to not only break his contract but to also hire him as bodyguard, he travels with them.

Kongway is not a reincarnation. Can't say more about that.
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More or less, that's the gist of it. It's been a while since I played Absolute Zero translation (DS Innocence), so I don't remember the terms and translations used.

As far as reincarnations and everything else goes, iirc...

Luca - Cowardly boy who's bullied by his classmates. Reincarnation of Asura (Leader of the Sensus, enemies of the Ratio)
Iria - Token tsundere. Reincarnation of Inanna (Asura's lover)
Spada - Delinquent son of a family of knights. Reincarnation of Durandal (Asura's sword)
Ange - A priestess who was believed by the people of Naos to be a miracle-maker. Reincarnation of Oriphiel (Strategist for the Ratio army, iirc)
Ricardo - A mercenary who was hired to escort Ange to Tenos. Ange pays him to break his contract and serve as her bodyguard. Reincarnation of Hypnos (Ratio soldier, the guy who Asura fights in the opening scene)
Chitose - A ninja who works for Arca, the organization that Matthias leads. Reincarnation of Sakuya (Ally of Asura's, was in love with him but never had the courage to tell him)