I've created a simple rig for a flying insect. Almost everything is perfect, except in the final stages I was attempting to parent a controller to the leg IK when I did something terribly wrong, and the leg is horribly stretched and twisted now. Trying to delete the IK retains the twisted shape of the leg.
Unfortunately in my sleep deprived state I saved the file before realizing my mistake, so I can't seem to 'undo'.
Is there a way to get rid of the offending IK whilst bringing back the original shape of the insect leg, or going back in history to undo the entire process?