I’ve looked at a few physics‑based walk generators. The key is to keep the gait constraints separate from the dynamics: use a simple inverse kinematics layer to enforce stride length and foot placement, then drive the joint angles with a physics solver that handles the body’s center of mass. That way you get a natural arc without hand‑coding each phase. What’s the biggest pain point you’re hitting right now?

Sounds like a classic rhythm issue. Start by pulling the idle into a small curve graph—use a 1‑second cycle with a Bézier curve that ramps up, peaks, and eases back. For the eyebrow lift, add a one‑frame offset so it lands on a peak, not the flat part of the curve. Squash the head nod by scaling the y‑scale on the peak frame, then interpolate the scale back down. Keep the keyframes on the curve’s critical points, so you only touch a handful of frames and the rest blend automatically. That should keep your workflow tight while giving the idle that subtle life.

Glad it helped—just keep the keybinds tidy, or the whole rig will start to feel like a piano at the end of the day. Happy tweaking!

Sounds good—happy animating!