From what I hear, tracking is mostly only useful for legs, while arms and if you do hands with Ik you don't use targets. There has been discussion on how to rig something, and if you look at the wizard for animation and then IK or what ever it is called, you can see how they set up their legs with a foot bone to animate rotation of the leg around its own axis. Or maybe they don't use that technique, but that's what have been discussed on the yahoo group, and possibly also 3dxtract.