its actually pretty easy...
just add bones to the "joints" then link the knee to the hip bone, and the ankle to the knee bone. then link the upper leg to the hip bone, and the lower leg to the knee bone, and last link the foot to the ankle bone. then select the hip bone and go to the animations menue. there select "limb solver" under the helper menue or something, I'm not sure.
Then you'll see a dotted line appear from the hip bone to your mouse cursor. next just click on the ankle bone and a 3D cross should appear on the ankle bone. If it doesnt you did something wrong.
You'll notice that when you selct the cros and move it, the entire leg wil follow, using the knee and hip as joins.
now do the other legs and even arms if you need to and save it the entire model as the skeleton.
you're done.
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