Yeah, sorry about the feet not being straight. I should have put my foot down (pardon the pun) and made Kent build it straight, so it is easier to animate. Straight feet is a pet peev of many cg artists as people rarely walk with their feet straight. But I guess it is a very common thing that you will come across with many rigs, so it’s something you need to practice with.
The way you are solving the problem is a valid one.
You can switch the manipulator to World, or constrain the control to the side view (I hope that makes sense).
But once you know what the value changes are you can input them manually in the viewport. You can copy the keyframes in the action editor or graph editor as well.
It is more difficult in the “in-place” walk cycle, as when the character actually translates forward, the feet remain in the same spot when on the ground.
