I made an kinematic assembly containing one manikin assembly with one manikin and a part used for revolute reference and an other assembly containg a hub part and two fotstep parts.

In the manikin assembly, I manikin constrained the the feet to the footstep (in the other assembly) and fixed the hip.
In the kinematic assembly I made a mechanism where the reference part in the manikin assembly was the fix part and used the same part to make a revolute with the hub part.

And also I had to set in tools/options the manikin constrain resolution updates to automatic

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