Tying Humanoid Model Limbs to Moveable GameObjects to create a model poser

I know how to tie the entire model to a single game object so you can click and drag it around, but I want to know how to tie an individual limb to a gameobject so when you click and drag the model’s, say wrist, inverse kinematics are used to articulate the rest of the arm and shoulder into a predictable pose without affecting the rest of the model’s articulation.

I haven’t found any tutorials or resources on this topic, but it’s something I’ve wanted to replicate for awhile.

Research IK in the documentation. Also learn up on humanoid rig. If the model is not humanoid - a different IK solution will be needed from the asset store.