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I've got a character nicely rigged with the standard IK arm behavior, following the standard shoulder-stick-elbow-stick-dragable hand method. The rest of the head and body are controlled by the head with various sticks and pins to dampen the movement of the character to their waist and this works well.
When I drag the hand and leave (Hold in place) it holds but is still subject to movement from the head, torso and body albeit a small amount. Is there a concrete way to plant the hand rock solid?
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I have the same problem and I am very surprised by the lack of discussion concerning this subject which seems to me essential. My character's hand (which is above his thigh) also moves slightly, giving the impression that he is caressing himself.
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Have you tried the pin options in Limb IK? Pinning to "Behavior" or "Scene" may do what you expect.