Using IK, I need to restrict the motion of particular axis as per the image below: 1. needs to translate along X and rotate around Y. 2. needs to translate along Y but no other angle. 3. needs to rotate freely My setup is: The only constraint I have is the IK one and moving the target moves as you might expect - adding other animation constraints makes no difference. I have tried adding constraints of other types in the order of precedence listed here. I had some success adding not-animation constraints to the meshes but that only works in a limited way because I need the bones to be constrained, not just the meshes. I was hoping for a robot arm (or cartesian 3D printer) example because that should solve the problem but I can't find one. Furthermore I can't get any of the examples here to load. No official answer on a similar question here. Using Unity 2021.3.12f1, Animation Rigging 1.1.1 How would I go about setting up the constraints/bone structure/model for this? Many thanks in advance.