Hello! Following the tutorial on how to get Final IK to move joins in the right direction, I've pre-rotated the joints in the prefab so that they end up in the right direction. However I can't seem to "undo" the rotation in play mode, it wants to try and move it into the bendy state rather than the neutral state from the idle animation. In the "natural" state (before I've tweaked the bone positions), it will bend in all sorts of awkward ways. With no Quadraped Grounder and no FullBodyIK component, the neutral idle animation looks like: Is there any way I can set the direction of movement for the joints without having it alter the idle states of the animation? Thank you! Edit: Have removed full body biped IK from the object as it's obviously not a biped. The grounder is still on the object but still no luck with making it work properly unless I "pre-bend" the legs in the right direction. I've tried the legs with CCD IK for the legs with rotation limits but the legs just remain straight.