Forward Kinematics – How to constrain an arm?

I have an arm that is kind of like a knee. It cant bend in front. I am trying to set up constraints for it, so it doesnt get in that position. Currently its joint is parametrized by RPY. However, this is hard to constrain because if a particular P and Y can result in the arm in a bad place. Should i convert it to quaternion and then constrain in?

submitted by /u/soulslicer0
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