Nothing in the article implied learned behaviors were inherited.
"The Genes for a human pelvis and foot had to be there already, before they could, over time, becomes more prevalent in the population."
No. Genes in a population change over time. That's what it means when a physical trait becomes more common. The genes for that trait become more widespread in the population. Gene pools change, and they can acquire new genes they didn't have before.
I am not going to cover this here with you, unless you are a geneticist. Years ago I was in the top 1% of college graduates in this area of study.
What you wrote is incorrect. Please accept that.
Nothing follows.