R6 IK Footplacement how?

I want to make a IK Footplacement system for R6 avatars, but i dont understand: how to replicate legs, and how to set target&origin points position.

Do all characters on each client. Additionally, you should set the target using an attachment either parented to terrain or the HumanoidRootPart.

Gotta just replicate them to server ig, and how do i place target?

i literally said don’t do that.
Just put a client RunContext script.

Also, place target by setting the target in the IKControl.