Perhaps I am not using the Python script correctly, but I still prefer my method, or Little_Dragon's. Let me test my psychic powers. The next question will be: Q: Thanks, the heals now walk on the ground, but the toes don't touch the ground, the feet don't bend enough. How do I fix this? A: This is not a perfect solution for the problem, but try it. Before you apply the walk cycle, turn off IK, select the right foot, double click on the 'Bend' dial in the paramiters pallet (on the dial, NOT the number), you should see the 'Edit Paramiter Dial' box. In the 'Min Limit' box type in "25.000" (might need to be more or less depending on the hight of the heels). Do the same for the left foot. Now tick (check) 'Use Limits' in the figure menu. Now you can apply your walk cycle. there are some problems with this method, one is that the foot ends up rather stiff and wooden looking in the animation. There are other methods, but they are more complicated.