I am attempting to set up a humanoid animation recorder to save animations from a motion capture system within Unity. I have successfully set up the recorder so that it can save animation clips with all the muscle space data, but am running into problems with foot IK. Every time I have tried recording the feet position/orientation in muscle space the results are not what I expect (wrong position, wrong orientation, etc...). Disabling foot-ik on the animation fixes the issue, but means it cannot be used with timeline (since timeline appears to force foot-ik on). The only information I've been able to find regarding encoding the feet positions and orientations is from this Unity blog post: https://blogs.unity3d.com/2014/05/26/mecanim-humanoids/ In that post it says "The hands and feet position and orientation are normalized relative to Humanoid Root (center of mass, average body rotation and humanoid scale) in the Muscle Space." I've tried recording the feet positions and orientations relative to the Animator bodyPosition and bodyRotation without success. I've also attempted recording relative to the root transform of the body. So I'm reaching out to see if anyone has found any further documentation regarding how the feet position and orientation is transformed to make it normalized relative to Humanoid Root. Ideally I’d really appreciate a short example script that shows a transform for the position/orientation of a foot being normalized relative to humanoid root in the muscle space, but any help is much appreciated.