[wang_li]

It also means you can move the point and the rest of the joints adjust. Want to make your model walk? Just figure out the foot motion and the rest of the details are calculated based on joint range of motion and limb length.

[dagmx]

Without some extra solving most full body IK systems won’t give you walking motion. It’ll just be like pulling a doll by its limb or QWOP

You need a proper motion controller on top to actually have realistic walking motion driven by steps.