Hi jacobo,
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In XSI though parenting only adds the leg root bone to the hierarchy but the child does not inherit the transformation of the skeletons root. This seems to go for all objects. You have to go ahead and do multiple constrains on it.
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There is probably a setting that is checked that you don't want: Auto-child compensate. It's in the Constrain menu of the MCP. Uncheck it, and then whenever you SRT the parent, the children should follow without the need of constraints.
When Auto-child compensate is on, the children will compensate their own SRT to stay like they are whatever the parent does.
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And he uses a terminology named "relaxing constraints
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Although I'd be curious to see that tutorial, my guess is that the author is referring to soft contraints. When you apply a constraint, in the ppg you have the choice of using it Rigid or Soft.
Hope this helps
Salutations - Cheers
Bernard Lebel
BTW: No intentions at all to be haughty or patronizing, but I'm not sure that such long introductions (with comparisons with other softwares) is necessary to give depth to your problem Just giving the facts is generally enough you know. Take care.