hi , i am a new user , i did a robot throwing its hands back, but the joints were misaligned, and i didnt want to change dump and stiffness , i found it can limit rotate , do we alse have some way to limit some joint transform ,like only rotate not move ?
Hi @linn, welcome to the forums! 
Yes, you can limit the amount of rotation around an axis using “limits”. See here for a tutorial.