I have this pretty standard rigify rig from MakeHuman best I can tell. I am trying to add a IK point to the knee like the feet have. Not an pole target or pole vector, I already have those. I want to be able to have my character crawling through the desert like this: Short YT clip of acting reference I want to be able to IK the position the knee so my character can crawl. How do I modify the rigify rig to add a knee contact point. I also welcome alternative solutions that can be animated in a in a believable way.