The Goal

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1. Add IK Bone

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  1. Select the highlighted bone tail ⬆️

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  1. Select “cursor to selected” ⬆️

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  1. Shift + A to add a new bone then adjust it length ⬆️

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  1. Change the bone name ⬆️

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  1. This is what we have now ⬆️

2. Add IK Constraint

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  1. In Pose Mode, select the bone_front3 to add a bone constraint ⬆️