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Step-by-step:

HI Solvers Setup:
Check Picture 1!
Now for this part, you wanna click on for an example, BAT_UARML, and then go into Animation>IK Solvers>HI Solvers and then click on the B_HANDL

Creating Shapes/Dummies(Best explained in the video!)
Check Picture 2!
Now for this part, you wanna create 9 circles/or dummies, 4 Small, 4 Medium, 3 Large. Then you wanna use the "Angle Snap Toggle" Tool and rotate the small circles 90 degress. Then align them without any orientation, to the FARML, FARMR, CALFL, CALFR. Then you wanna align the Medium sized circles with an orientation of X, Y, Z to: HANDL, HANDR, TOEL, TOER.
Now for the large circles, you wanna align 1 of them, with the ribs, and that one has to be aligned without orientation. Then you wanna align the other 2 with the ROOTDUMMY, and the HEAD, and with an orientation of X Y Z.
Much easier to understand in the video.

Export settings for Circles/Dummies, Geometry and Bones
Check Picture 3!


Now you wanna Link the HI solvers with the shapes, watch the video for this, to make sure you get it right.


Now you wanna add Orientation Constraints, from the bones shown to the circles shown
Check Picture 4!
This allows you to rotate the bones, with the circles/dummies

Done! If followed correctly, it should look like this:
Check Picture 5!
Hide the HI solvers when animating if you want, since they can be very annoying.

.W3D Animation Export settings
Check Picture 6!

Tips/How to animate:
1. Create your animation, smooth it out, watch it, see what you can improve, improve it until you can't find anything else to improve.
2. Get a good Basepose for attacking, that is viable for several things, and fits easily into the cheers/taunts/deaths/attacks you have in mind.
3. Try to do the animation in real life, this may sound a bit ridiculous, but you can get better results because of it. Even try to do it in slow motion. Just so you get an idea of how it would look in real life, and try to convert your knowledge over.
4. A style I like to animate with is this one(Frames that have all the colors are where I make the frames, the inbetween are smooths):
Check Picture 7!
5. Focus on your units, strength/weight and what he is wearing/holding, if you want the most realism possible.