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Animate a character walking with a basic walk cycle using keyframes and poses.
Rig your character with an armature (bones for legs, hips, spine).
Create Contact pose (one foot forward, one back) at frame 1.
Create Passing pose (legs crossing) at frame 8.
Create Contact pose (opposite) at frame 16.
Copy frames 1-16 and paste reversed for frames 17-32 to complete the cycle.