but I need to keep the Platform behaviour on "Legs" so that they will fall back to the ground if you detach them while in the air (without Platform, then "Legs" just hang in the air).
...add "Legs" variable.. "fall"..... if you detach them while in the air...set "fall" to true(1)
"fall" is true(=1)...."Legs set Y to ...lerp(Legs.Y,ground.Y,dt)
(..or 2*dt..6*dt....etc)
On collision with ground ..set "fall" to false(0)