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Im using metarig to rig a model of a robot and the arms and legs have brackets connecting the joints where rotation in a certain axis would cause part of the model to twist into the mesh of the bracket. To stop this from happening I want to limit the rotation of the middle FK but after messing with every possible combination of constraints and rotation locks I still cant get it to work. I have attached an image of the arm I am working on.

enter image description here

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just add the limit rotation bone contraint to that bone, and uncheck the axis that you wont use and then play with starting and ending rotation, for example if you want it to have a limit of 90 degrees just add 0 deg as starting and 90 as ending and thats it.

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