How to use poses to create a looping animation (ie walk cycle)

From Blue Mars Developer Guidebook

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1) First you want to make sure the rotations on the last frame of Bip01 are the same as in the first frame. The translations for X and Y should also be the same, but if there are any keys on Z, leave them. They are for forward motion and don't need to be looped.

2) Then characterize the skeleton. (See How to characterize the skeleton into an IK rig for instructions)
3) Create new animation layer.

4) At the first frame, select all of the bones in the IK rig, as well as the FK bones that are in the hierarchy.

5) Set a keyframe on all selected bones in the first frame.

6) In the Asset Browser, go to Pose Controls. Click on "Create" to save the pose in the first frame.

6) Go to the last frame of the animation.

7) Click on "Paste" in the Pose Editor so that the figure assumes the pose.

8) Key all bones and IK solvers again.

9) The first and last frame of the animation should be in the same pose now.

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