Cage, you asked about the limits I was using in the shins. I forced yrot (twist) to zero, and right and left zrot (swing) to -1.5 and 1.5 respectively. The zrot setting is just personal taste, zero should work just as well. I also forced the foot swing to zero, though I should probably have given it a bit of an outwards bias. I left the limits un-forced so I could turn them on/off via the Figure menu.