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I heard a good while ago that someone might have been working on a script to atleast partially do this, but I don't know if they ever managed to complete it and get it working or not. I haven't seen any news on it at all in months now...
With the way SFM works, you'd end up with what in programming terms is called a circular loop.
You'd have the rig controlling the model's bones, and the model's bones controlling the rig.
This is an instant paradox (a bit like "Johnny B Goode" is in Back to the Future. Chuck Berry first hears it because Marty goes back in time and plays it, so actually no-one ever wrote it), and SFM can't handle that.
This is why SFM disables the bones when a rig is applied.
If you know the basics of SFM's Python coding, you can however build some limited FK functions into IK rigs - you can put "handles" at the shoulders/hips that you can lock the hands/feet to; this allows you to animate sweeping motions from the shoulder/hip.
You still don't get FK control of the elbows or knees, but it does provide a certain level of hybrid control. There's a version of rig_biped_simple on the workshop that already works this way, but for anything that needs a different rig you'll probably need to learn to code your own.
you mean this thing?
http://steamcommunity.com/sharedfiles/filedetails/?id=661850284
it is partial. and it is pretty much complete. there's no point adding more to it.
and yes, the functionality is not native animation rigging. if you twist wrong axises it can murder your workflow. hence why it's a experimetal method. but it should work. it's not wip.
http://steamcommunity.com/sharedfiles/filedetails/?id=444750868
It's not 100% perfect, it sometimes doesn't get the bone assignments exactly right, but this is easily edited to correct them. For the most part, I've not found any models that it absolutely won't work on yet, so it is a useful tool.
I've even used it to rig a couple of quadropeds as well...
https://developer.valvesoftware.com/wiki/SFM/Making_custom_rigs
* For example, I often build rigs so the foot pivots from the ball of the foot rather than the ankle. This is often simply how weight is distributed anyway, but it's particularly useful for digitigrade models such as dogs, cats or my half-dragon character.
(Contrary to what a lot of people think, such creatures do not have "backwards knees", they just have a raised ankle. It's like a human walking on their toes).