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I have rigged this elephant mesh with inverse kinematic but when I move the leg with the controler bone, the leg bend inward (my goal is to have a leg that bend along the Y axis).

Here are picture to demonstrate:enter image description here Here I have moved the leg... enter image description here as you can see the leg moved along the x axis and the knee goes outward enter image description here

I think the problem comes from the orientation of the bone or maybe the automatic weightpaint and the pole bone, does anyone know how I can fix this ?

Here is the blender scene

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First you can see that if you make an altG the armature is completely messed up in rest pose. So you need to correct all this (if you want pole targets in front of the knees in Pose mode by default, put there in front in Edit mode as well).

But first to make things cleaner I would align the bones on the axis with some ctrlN > Global +X axis.

enter image description here

Now select your lowerleg bones in Bone mode and in the IK constraint set their Pole Angle at 0°.

enter image description here

Now if you want the knee to bend more inwards, you need to move the IK Pole Target a bit inwards in Edit mode, pole targets are here for this purpose. You can also move the knees a bit inwards. When you'll switch to Pose mode it will already work better.

enter image description here

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As moonboots says I used ctrl + N -> global + x axis (in edit mode), aligne the pole bone withe the bone of the lang and then set the pole angle to 0 in pose mode, but when I move the leg with the IK controler the leg is still bending inwardenter image description here But I realized that moving the yellow bone with G untill it aligns with the other correct the problem. enter image description here enter image description here Even when I go back to rest pose (alt + G) and move again the feet with the IK controler, the leg bend on the desired axis now

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