I'll agree that the hands work the same as the feet.

But I disagree about the second goal.  I'm testing in Poser 4 ProPack, so maybe IK changed in later versions - will need to test.  But the stock figures plant first the normal goal (the tip of the foot) and then the secondary goal (the origin of the foot).  Same for the hands actually.  And they remain planted until the direct distance from start of the IK chain to the secondary goal exceeds the length of the links (body parts) inbetween.  At which point, the secondary goal loses traction and then the primary.

I don't see the feet in P4PP doing what Jessi is doing at all.  And testing Jessi in Poser 6, the feet still plant!  I'd upload a video but then I'd need to do the video capture on the Mac.   Is this some modification - yes - turn off 'Use Limits' and try again, please. :)  Even with it enabled, there is a slight planting before the heels or wrists will lose grip.

To see how this works more clearly, rotate one leg up more than 90d (like a kick) and then enable leg IK.  Note that as you translate the hip, the feet (no matter the position/orientation in space) always go right back to that initial position when IK was enabled.  Maybe the foot goal is considered in totality - not just the tip (endPoint) but the only way to do that is to consider another point in my case.  Poser's strange IK (with reparenting the goal object, different rotations stored for IK and non-IK) might be allowing just the goal's position and initial rotation but I won't be doing it this way.

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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