Hello, You have done well to get this far and have a new poser figure. The next step is to adjust the Joint Parameters one by one. Turn off all IK then do the "Centers" first. Set the center JP on each joint. Then you can do the Bend JP's. After you adjust a JP you have to save the figure to the libraries icons using the little "+" sign. But fix this not walking thing first. As far as working in the walk designer....the walk designer is based on the Poser "Stick Mans" joint names. Your figure' part names must match exactly. The case of your names must match exactly also. example: you said lshldr, rshldr ...the Poser standard is lShldr, rShldr upper case on the "S". The correct phi names for the legs are... hip lThigh lShin lFoot lToe You must have these upper case first letters in the PHI. You need to delete the RuntimeGeometriesYour model whatever.RSR Fix the names in the PHI and also in your obj groups names. Then convert Hier file and then it should walk. But still will have to edit JP's. Serpent