I'm NOT sure ... -- section_robot_tut.xml -- Figure 68, Caption: "IKS" --> "IKs" -- section_rigging_tut.xml -- "Figure 47. Adding a toe and some more IKA."=20 After Figure 71 and after Note: "the IKA solvers" --> "the IKs solvers" section_robot_tut.xml Row 323: <title>The Empty for the IKS solution.</title> --> <title>The = Empty for the IKs solutions.</title> (IKs and solutionS) Baldo