Here’s an updated example for FK/IK Snapping that includes a leg. I only created a left leg, but should be able to follow the example to get it to work for the right leg as well.
FK_IK_Snapping_4_0.blend (698.6 KB)
I’ve been meaning to create a website for my blender work and this example with a text tutorial will be included when I get around to it!
Randy