I changed the IK spring solver to two separate IKRP solvers for Hemmy's back legs like you advised me to but I am having an issue with the Pole Vector. I tried using it on the top IK but it does nothing but rotate the ball joint with no movement on the actual joints themselves from either the back or the front. The lower IK seems to work fine when I use the pole vector it only gives movement for the lower half of the back leg. It's meant to move as a whole instead but obviously it cannot do that.
Is there any way I can have the full control of both IKs of the back legs to Pole Vector constrain them?
Thank you, and hope you have a good weekend.