what digidan said, but the IK from hip to ankle should be RPsolver, the rest should be SCsolver. For the life of me I can't remeber what they stand for, but to memory, RP is for any IK that controls a bend (such as hip to ankle), and SC is for those going from 1 joint to the very next (like ankle to ball, or from ball to toe). Someone feel free to correct me if I'm mistaken.