In the menu Use Linits: Figure>Use Limits Selecting this will toggle it on and off. But beware, I've found that at times it will NOT toggle OFF. Figure>Use Inverse Kinematics>Right Arm, Left Arm, Right Leg, and Left Leg Legs are on by default. You can toggle them off here. For some reason I remember this being a fix for this problem with the P4 figures, but I have no idea with the Millennium figures. James