I've got a somewhat complex robot arm that I'm trying to get IK manually setup in UMotion. I got the IK chain setup and working, but because there are 4 bones, it is behaving strangely. The problem is that the first 2 bones from the shoulder need to have their rotation constrained as they shouldn't have free movement, but I can't seem to find a way to limit this with the constraints. Is there any way to get this working correctly within UMotion or will it just not be possible with this type of model/rig?
Here is a vide of just the two bones from the hand and then all 4 bones: https://streamable.com/7nhxau
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