thanks markscum.

its strange, i use the " drop to floor " and there is no response !

when i apply a walk pose to it , the feet is walk properly touching to ground.

but when i try adjusted the yTrans so that the feet touch the ground , and apply the walk pose again, the feet walk and penetrate the ground .

you mentioned " You may be able to move the figures origin to correct this. " , is this ny moving the yTrans of the " body " ?

thanks