I’m working on rigging this lego action figure, and I can’t figure out how to make the knees bend towards the IK target. The thighs point slightly outwards, so I think that may be the cause, but I can’t move the hip joint because the character’s body parts are all rigid except for the joints.
To make the knee point toward the pole target (what I think you meant), just make sure that the pole target is far enough away, and change the pole angle until it points to the target. (0 degrees pole angle points the thigh’s +X axis at the target.)
To control the axis that the lower leg bends in-- not the same thing as changing where the knee points-- rotate the lower leg. The IK bends in the angle it receives. While changing it in edit mode makes life easier, you can change it in pose mode instead. It’s often easiest to temporarily mute the IK to see how you’re rotating it, then re-enable the IK.
Sometimes, you might really want it to be resilient to alt-r or something, but cannot change the mesh / bone positions. In cases like this, you can make a non-deforming duplicate leg chain, bent how you’d like in edit mode, constrain it with IK, and then copy transforms from it onto your deforming bones.
