with either IKor FK solved/applied whats your ideal solution to know the pose of a supposed walking mechanism, its orientation and position in 3d space to make its locomotion pattern as natural as possible, from how the spines and pelvis will dominantly rotate towards the current dominant arm during gaits to how the ankles and hips locate itself in 3d space relative to the ground surface involved in the locomotion while acquiring force and mobility towards the direction of the action?
solutions provided would ideally result in xyz vector coordinates or xyz rotation