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constraining one bone from IK chain causes IK to miss target

polycounter lvl 8
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Olli. polycounter lvl 8
Im trying to make a mechanical joint where root is a pivot joint (only rotate around Y), then the middle and end joints are ball joints (free rotation)

ive tried to constrain the first bone using the Hirearchy->IK menu, and that does a good job limiting the rotation to nly the Y axis but it causes the end of my limb to miss the IK target.

any ideas how to keep the end at the IK target?
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