Edit Mode
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In edit mode, you can move joints and rotate bones. When you click on a joint, or bone, you will see something called a manipulator.
To move a joint, drag each arrow on the manipulator with three arrows to move it in a specific direction. Drag the yellow box to move it parallel to the view plane.
To rotate the bone, drag the ring manipulator sphere. The green line on the bone is the upward direction of the bone.
When child linkage is checked, the bones of the child can be moved with it.
If any bones are symmetrically specified, they are also automatically moved to the position according to the specular type.