Thank you Hioushi, will give it a test now :D

Estherau, it's a python script that makes 3 props (A base, Target, and Seeker), you place the base at location you want a pose to start, you parent the seeker to whatever body part you want to go to the Target, and place the Target wherever and it will go through a bunch of iterations to get the seeker as close as possible to the target, thus posing the part(s) from the base to the seeker.  Also you can edit the limits on the rotations of the parts.   It's a lot easier to just try it than for me to explain it.  Lol. 

 There is a link to instructions on it's use on Hioushi's thread I mentioned in the first post.  That is much clearer than I could be :D 

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Consider me insane if you wish, but is your reality any better?