We were given a Captain Atom maya file. First of all I created a leg joint chain and a foot controller.
I duplicated the leg joint chain and then I made IK handles from top leg to ankle, from ankle to ball, from ball to toe. It is important to rename them appropriately and define left and right when we create two legs. In front of the knee I created Locator then I selected Locator, IK a clicked Constrain → Pole Vector, a line appeared and the knee was pointing on the locator.
After this step I created groups and put IKs in them.
We do this so each group can have their own pivots. Next I constrained the controller to the ankle group; point constraint for translation in all axis and orient constraint for foot rotation in all the axis as well. I did all the things mentioned above with the right leg as well.
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