Does BIK solver supports rotation limits? For example, I have an arm with 5 bones, each bone with limited dof: shoulder 2 dof, shoulder roll 1 dof, elbow 1 dof, forearm roll 1dof and hand 2 dof. Also, each dof is limited between min and max angles. For example, elbow can only rotate between -15° and 120° around y axis, shoulder roll between -90 and 90° around x axis etc.
Would that kind of skeleton work?