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You don't need feet and legs in order to use the IK target helpers to anchor the bones. I was trying to get your idea of anchored. What do you mean by anchored?
Your very vague in your post. Are you saing that you have a 4 bone rig and one end is fixed to the ground. Then you can pull the bone farthest away and it will straighten out or get slack depending on how you pull it?
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