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@Firestoem I'd try adding a few bones as controllers. Not bones to deform the mesh but control the IK. One coming off the back of the foot should let it deform like you want it.
I know in blender I can add a bone to act as a "pointer" for the knee, I don't know if that is possible in maya.
@NyxumNightshade Congrats on the 100, looks like 200 is right around the corner! Here's my two boys!