Force IK rig to bend knee "Wrong" way? I've designed this mech's legs so they can fold up when crouched but that left the knee pivot behind the top one so my IK rig bends my leg the wrong way. Can I have my knee behind the "pelvis" and force the knee to bend forward still? 

Thank you!
It turns out I was overthinking this problem. I simply had to bend the knees before I rig it.