I have a problem with animating a walk. The character is shown below with the legs setup with IK handles. I can’t get the ‘legs’ to plant down on the floor ahead or behind the default position because whenever I move the legs forward or backward the feet rise up off the floor (as shown) making it impossible to make a walk cycle.
I could remove the ik handles and stretch the skeleton to the desired position but the rigs I have seen seem to be able to plant their feet ahead and behind the character to create a walk while still keeping ik handles attached. What am I missing here?