I purposely created arm chains - not that I'd use them. :) They seem to work, though moving the IK chain via the hands seems to have too much hand reaction. Moving by the ForeArm works well. Before doing this (to a copy of course), I set the arms up, Memorized, and saved the figure as a new one (but rereferenced the original geometry obj). These are the new rotations: L/R Collar.UpDown: +/-10 Shldr.Bend: +/-15 UpArm.Bend: +/-15 And the Figure IK chains: inkyChain LeftArm { on name LeftArm addLink lCollar:1 addLink lPectoral:1 addLink lShldr:1 addLink lUpArm:1 addLink lBicep:1 addLink lForeArm:1 goal lHand:1 linkWeight 0 1 linkWeight 1 0.2 linkWeight 2 0.04 linkWeight 3 0.008 linkWeight 4 0.0016 linkWeight 5 0.00032 } inkyChain RightArm { on name RightArm addLink rCollar:1 addLink rPectoral:1 addLink rShldr:1 addLink rUpArm:1 addLink rBicep:1 addLink rForeArm:1 goal rHand:1 linkWeight 0 1 linkWeight 1 0.2 linkWeight 2 0.04 linkWeight 3 0.008 linkWeight 4 0.0016 linkWeight 5 0.00032 } Seems, as Anton did, you can bypass the naming of inkyParent/nonInkyParent. It may or may not make a difference to how the IK reacts.

C makes it easy to shoot yourself in the foot. C++ makes it harder, but when you do, you blow your whole leg off.

 -- Bjarne Stroustrup

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