How to add rotation toFBIK

Hi, im trying to make a Full body IK system for a robot arm. I have rigged the arm as a normal human arm. With several joints. When I add a controll to the system it only tracks the location. In blender it’s simple to also track the rotation of the controll. Can this be done in a controll rig using the Full Body IK node?

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Are you using Unreal Engine 5.4?
I have been working on a project for a year using earlier versions and Full body IK have worked fine, but I tried it out now in UE5.4 and I have the same problem with limbs not rotating correctly.
I don’t have a solution and I hope somebody have one, but I worry that it’s an issue in this version of the engine since they made so many changes and new features to the rig and animation systems.
The picture I have added shows the difference between 5.4 and 5.3. Exact same skeletal mesh and control rig setup, but the new version on the left doesn’t rotate.