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in the image below, i created 2 primitives/cylinders

the green cylinder will be called "the reference"

the yellow cylinder will be called  the rotator"

In the following order ( the order is very important )

i select

1 - the reference 

2 - the rotator

3 - Amy's ankle ( lFoot )

i run the script

we can see that the whole figure was rotated according to the angle between "the reference" and "the rotator"

we can also see that the rotation center was the ankle

note that the rotation and the translation was in fact applied to the hip node of the figure

the script computed the displacement of the hip node require to keep the ankle location steady

After a few iterations of using the script on the ankle, knee and hip we get to this situation

( were also used the mcjKeepOrient script and the mcjAutoLimb script 

And this happens to be exactly the situation we were describing in the introduction

we worked on an animation cycle for minutes now

and the figure is tilted too much backward

so we'll rotate Amy around her ankle 7 degrees

and there you have it !

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