Question The object is never moving to target

Code (csharp):

1.  
2. void OnAnimatorIK()
3.     {
4.       Vector3.MoveTowards(navi.transform.localPosition, rig_f_middle.transform.localPosition, 0.1f * Time.deltaTime);
5.  
6.     }
7.  

navi should move to rig_f_middle smooth slowly.
OnAnimatorIK act like Update

but the object navi is not moving at all.

 

Always start by putting Debug.Log() calls in.

I'm almost certain this code never runs.

The actual callback I suspect you want is this one:

https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnAnimatorIK.html

It accepts an integer argument. Surprised you don't see some warnings in the console about it.