How to know where is the limb of a character arm?

Hello!
Im making a proceduarl animation system, where I need the character to always have it’s hand on a given point.
For that, with the cos theorem, I will place the hand of the R15 character every frame on that point.
The problem, is that if you looked closely roblox characters their parts intersect in the join of them, so I can’t use it’s size on a given axis to know what length should the sides of the cos theorem triangle be. So:
How can I know what’s the length of each body part whitout intersecting?
(This wouldn’t be a problem if every character in the game has the same proportions, but they don’t)

You could use the joint rig attachments and get the distance between them. Ie. The distance between the wrist and elbow attachments in the lower arm.

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Ohh, thanks!
I never payed attention to that attachments!

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