is there a way to only have a leg only rotate like 30 degrees on a certian axis and so on?
Not an easy, all purpouse, robust one.
(and if you do a search around there have been a topic few days ago on this 
)
Stefano
I haven’t tried this yet, but shouldn’t it be fairly easy in 2.28 to restrict the range of motion with a python script linked to the bone? I seem to remember reading in the release notes that there is python access to the armature now.
-Daniel