#(IK) is there a way to set another "joint" here so that the curve can follow the white line i drew?

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jaunty rivet
tropic anvilBOT
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jaunty rivet
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i also can't seem to rotate my cubes that are in an IK folder-- how would i get this cube (outlined) to rotate into the position i drew next to it?

jaunty rivet
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i can't figure out how to get the curve of the solid tentacle to follow this white line