Question Inverse Kinematics on Humanoid robots with movement constraints

Hi I am trying to animate humanoid robot(pepper robot) in VR using pepper robot model as an avatar for human controller using either VR or Kinect. I want to be able to animate the motion with the limit of pepper joints dofs as described in this link here.

I am not sure how to achieve this. I thought of using unity's IK but I am not sure how to implement the motion constraints in the IK system. I am also trying Muscles and settings tab in avatar configuration but I am not sure how the muscle settings map to the robot joint limitation. For example: For pepper robot we have shoulder joint limitation in pitch and yaw in angles but in the muscle settings tab there is shoulder down-up, front-back. How to I figure out the mapping between these settings and the robot joint configuration. Also does this method work for my intended purpose?

 

Did you find any solution?