This is a realtime interactive IK over the Full Jacobian using a novel IK algorithm. For the motion in this animation, 78 dof skeleton is used with 7 constraints: locations of limbs, orientation of the head (controlled by keyboard) and location of the foot on the ground. All joints are spherical with limits. The engine is used as a middleware library in Ogre; the IK computation cost is negligible; Frame rate (200 FPS) is constrained by rendering and video capture.