When setting the "free dof" of the foot goals to "Z" you can see there is no visible connection to the goals. These goals may also not be rendered by default (the gold balls are from the demo). Ideally you'd be able to get a full impression of the system by just adding a single helper. Perhaps an "IKHelper" separate from an "IKRootHelper" would be viable. The IKRootsHelper should already be including any closure joints so something else seems to be going on.
Other colors could also be included to help visualize other state.
When setting the "free dof" of the foot goals to "Z" you can see there is no visible connection to the goals. These goals may also not be rendered by default (the gold balls are from the demo). Ideally you'd be able to get a full impression of the system by just adding a single helper.
Perhaps an "IKHelper" separate from an "IKRootHelper" would be viable.The IKRootsHelper should already be including any closure joints so something else seems to be going on.Other colors could also be included to help visualize other state.