Inverse Kinematic Leg System

I stumbled across a YouTube video about implementing IK legs in Minecraft using a datapack, and realized I had not yet built a custom IK leg system yet. Well, now I have.

Moving system of legs linked together

I created a component to control the IK of a single leg. I then combined that with another component that controls where the base and feet of the legs should be, creating a spider-like walker.