# End effector control
**URL:** https://forum.highend3d.com/t/end-effector-control/61754
**Category:** Xsi
**Tags:** animation
**Created:** [May 5, 2001, 12:31pm UTC](https://forum.highend3d.com/t/end-effector-control/61754 "2001-05-05T12:31:54Z")
**Posts on this page:** 10
**Page:** 1
### Author:  [@fieliep](https://forum.highend3d.com/u/fieliep)
#### Post date: [May 5, 2001, 12:31pm UTC](https://forum.highend3d.com/t/end-effector-control/61754/1 "2001-05-05T12:31:54Z")
Ive used 2 methods of controlling end effectors of an
IK chain-
1) position constrain the effector to an implicit cube
2) reparent the effector to the cube then keyframe the effector
at frame 1 before using the cube to control the effector
both seem to work equally well
Can one of you experts tell me the pro's and con's of
these methods. (Rafe,Matt,Urp??)
THanks
Rotifer
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### Author:  [@fredc](https://forum.highend3d.com/u/fredc)
#### Post date: [May 6, 2001, 9:09pm UTC](https://forum.highend3d.com/t/end-effector-control/61754/2 "2001-05-06T21:09:36Z")
What you are describing are local effectors. You should be able to do this in XSI without using Nulls.
Animators tend to develope their own style. However, I will give you "my opinion".
There are two types of effectors, local and global. Global effectors use their position relative to the
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### Author:  [@nohairmonk](https://forum.highend3d.com/u/nohairmonk)
#### Post date: [May 6, 2001, 11:37pm UTC](https://forum.highend3d.com/t/end-effector-control/61754/3 "2001-05-06T23:37:33Z")
Hey Urp,
Where's the walking man tutorial? I can't find it in the XSI 1.5 docs.
Which method do you prefer to animate the feet? local or gloabl keys?
Grand Strateguerre
[http://elfstone.3dvf.net/](http://elfstone.3dvf.net/)
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### Author:  [@fredc](https://forum.highend3d.com/u/fredc)
#### Post date: [May 6, 2001, 11:49pm UTC](https://forum.highend3d.com/t/end-effector-control/61754/4 "2001-05-06T23:49:18Z")
It is a Soft 3D tutorial. You should of gotten 3D with your XSI license. Although they have different interfaces, the priciples are the same. If you are already accustomed to heiarchies, function curves and placing simple skeletons, then it should not be diffiicult to interpret the features.
You should have a Soft 3D On-Line Library CD. It is in the QuickStart Guide. It is called "Walk".
Q: Which method do you prefer to animate the feet? local or gloabl keys?
A: As mentioned in my previous post, I recommend globals. You will have problems trying to get the feet to stay planted, as you refine the rest of the character. Locals are fine for the portions of the body above the waste like the torso, head, arms and hands.
Hope this helps,
Urp
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### Author:  [@fieliep](https://forum.highend3d.com/u/fieliep)
#### Post date: [May 7, 2001, 1:15pm UTC](https://forum.highend3d.com/t/end-effector-control/61754/5 "2001-05-07T13:15:28Z")
Urp,
Phew!
thanks for that very expansive reply.
Rotifer
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### Author:  [@fredc](https://forum.highend3d.com/u/fredc)
#### Post date: [May 7, 2001, 1:53pm UTC](https://forum.highend3d.com/t/end-effector-control/61754/6 "2001-05-07T13:53:23Z")
Rotifer,
If my post was not clear, I suggest learning the walking tutorial. In fact memorize it. Once you know this technique you will have a solid method for animating characters in all types of motion. Then when you experiment with other methods, you will know if these new techniques are helping or hurting your work.
FYI: Although I strongly advocate local effectors for ankles and feet, you can still constrain them to null objects. However, the null objects should not become part of the character's hiearchy. Therefore they stay independent like global effectors. Some animators use these null objects to setup expressions to assist in their motion, or use the limit effect, so that the feet are constrained not to go through the floor.
However, these are advanced techniques and I strongly recommend developing you sense of timing first with the techniques described in the walking man tutorial.
Hope this helps,
Urp
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### Author:  [@johnnymech](https://forum.highend3d.com/u/johnnymech)
#### Post date: [May 7, 2001, 2:54pm UTC](https://forum.highend3d.com/t/end-effector-control/61754/7 "2001-05-07T14:54:04Z")
Heya,
Just wanted to add a note to Urps detailed post. I mainly use the method of charactor rigging that he pointed out and it works well. However with the foot parenting issue. Parent the feet to another rig object. THe method I use is the one I learned from Anothy R. at mesmer and has worked great. You start with a Cone or simular object that stays contrained to the back of your charactor. In effect you can use this to lift the entire charactor (COG). It is the parent of the hips and the feet. In turn the shoulders are parented to the hips the head and arms in turn to the shoulders etc. This way since your doing so much hip work it will never effect the feet in the way mentioned. Granted im still learning and have just finished my first major charactor animation for a demo reel, but this method of rigging has worked great. I would post an image to help explain but im not sure how... Im willing to try though if anyone wants to see it.
hope this helps a bit
RaiThioS
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### Author:  [@fredc](https://forum.highend3d.com/u/fredc)
#### Post date: [May 7, 2001, 3:29pm UTC](https://forum.highend3d.com/t/end-effector-control/61754/8 "2001-05-07T15:29:18Z")
Raithious,
I would welcome any images you want to post on this discussion. You can get a domain for yourself at Geocities.com. I've heard of others using them. It is free, and simple, but of course there will be advertising, but who cares. Instructions are on this site, but essentially all you will do is post the url location to your image, like any other web page.
The method you described, is not actually dealing with the issue I am talking about. Yes certainly define you characters master parent with a null objectl. However, you should either use your effectors directly, or if you constrain them to a null object, this object should not be in this "master" hiearchy of the character. If so, the feet will move when the master does, just like I am describing.
O fcourse, because the skeleton for the leg may be in the hiearchy, the effector being part of the leg skeleon branch will then be part of the maste hiearchy. However, once an effector is keyed, it will remain in place, so it is not an issue here and perhaps what you are intending to say.
To add to the point that Raithious is making. You should always define a null object for the master parent (top one in tree). It's center is very important, and is usally at the center of gravity (in the proximity of between the belly button and back). You should be able to rotate the entire character about this master's center point. Always test this. If you don't consider this master parent while animating, then imagine trying to do a back flip. How are you going to get them to spin in the air? Just moving the legs and arms aren't going to make the character spin around for the flip.
Hope this makes sense.
Urp
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### Author:  [@nohairmonk](https://forum.highend3d.com/u/nohairmonk)
#### Post date: [May 7, 2001, 5:48pm UTC](https://forum.highend3d.com/t/end-effector-control/61754/9 "2001-05-07T17:48:38Z")
Could someone send me the "walk" softimage 3d tutorial? I moved and don't have all my CD's here.
Grand Strateguerre
[http://elfstone.3dvf.net/](http://elfstone.3dvf.net/)
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### Author:  [@nohairmonk](https://forum.highend3d.com/u/nohairmonk)
#### Post date: [May 7, 2001, 5:53pm UTC](https://forum.highend3d.com/t/end-effector-control/61754/10 "2001-05-07T17:53:31Z")
I just got it 
Grand Strateguerre
[http://elfstone.3dvf.net/](http://elfstone.3dvf.net/)