Yes! The parameter I was missing was the "Rotate to goal" checkbox. Now the problem I'm facing is that I need to be able to rotate the independent geometries while keeping the IK.

done, thanks

Hi, sorry I mean, the restrictions of rotations works!

This is my basic rig without the upper rotations running independently. When you open the file, you'll see what I mean, I left a note.

Thanks a lot!

https://drive.google.com/file/d/1b84ro6FBgKtV5d9WeEgn5JviizWEzuNa/view?usp=sharing

Hi, I have this arm rig that I'm trying to animate using IK and then have the rotations be free. Ideally, I'd like to animate the arm as smoothly as possible with the corresponding positions or rotations. The problem I haven't been able to solve is that each axis of the arm has only one rotation because it's mechanical, so the rig’s constraints and restrictions haven’t worked with the IK, and I haven’t been able to get it to work with Xpresso either. How could I fix this? Is it possible to upload the file so you can take a look at it? Big thanks.