Hi Noseman, sorry for taking so long to reply. In the end, I made part of the rotations obsolete and it works, but I have another question related to the same problem.
I already have my IK chain with rotation constraints on each joint, but the kinematics do not work in a 3D Solver to be able to control the amount of rotation of each joint. So I would need something similar to a pole vector but that works with a 3D Solver. Is it possible?
I need it because when I move the goal controller, the knee behaves incorrectly at some angles, and I think that with the pole vector or something similar it could work.
I’ve attached the project so you can take a look and see if you can understand it. Sorry if it’s a bit confusing.
https://drive.google.com/file/d/1c-gNtcGQG-owlOssfA1g5xrm79fWNoRJ/view?usp=sharing