Here is another fix foryour jogging problem look in the "Poses" directory you will see "WalDesigner" and WalkDesingerP3 WalkDesigner has "tweaked" WD files in it. One of which is a nice run or job. The thing that causes all those quirky little things like knees bending the wrong way are one, bad or not great joint parameters, two IK is on,and/or three use limits is on or off JanP