Rest position: Found it easier to put it “at attention.”
I had so much difficulty getting the constraints to work that I went outside of the class specifications. Finally solved the problem with a good chiropractic treatment (straightened the bones since I noticed that they were crooked.) … and it seemed to self-constrain afterwards. Was it IK? Was it “Rigid Body?” I don’t know, but it works beautifully now.
like it!