Lastly, let's create a helper to aid us in rotating the clavicle in an easier way. Create a point object and align it to the clavicle in both position and orientation. Name it ClavicleControlRT. Link it to the Spine04 bone. Now, link the clavicle bone to it. That's it. If you rotate it, the clavicle should rotate, and the arm should follow. Here it is...
Fig 19. Clavicle control
That does it for the arm... let's move onto the legs.
First, create another point object and align it to the IK chain's goal. We'll use this object just like the one we created for the arm... to animate the leg. You'll usually want these objects, since it's very rare to animate the goal directly. Name the point object LegControlRT. Link the IK chain's goal to it. If you move it, the leg should follow now.
Fig 20. Leg Control
Create another point object, and set its display properties to show the axis tripod only. Align it to the leg's nub bone in both position and orientation. Name it FootControlRT. Link it to the calf bone (Bone_calfRT). Now, link both feet root bones (we usually have one only, but remember we had to create a 'special' chain for the heel of the foot) to this helper. You may turn off rotation inhertinaces for this one, depending on what you need this character do. We're done. This node is used to rotate the feet.
Fig 21. Foot Control
Now, let's add another helper to aid us in controling the rotation plane for the leg's IK solver (or, in other words, aim the knee). Create another point object, and align it to the thigh bone's root (Bone_legRT). Now, move it forward to the front of the character. Name it LegSwivel_RT. Link this node to the hips bone (Bone_hips). This will keep knee orientation relative to the hips rotation. Now, select the IK chain's goal and go to the motion panel. Click on the Pick Target button under IK Solver Plane in the IK Solver Properties rollout, and pick this object. Now the knee will always aim towards this node.
Fig 22. Leg swivel angle control