Eagleton

The video: https://user-images.githubusercontent.com/37317459/126633958-717a5842-0223-4911-b93d-edb7159f287e.mp4 I imitated you and wrote a balance script and attached it to the test object. The purpose is to achieve STABILIZER_JOINT balance mode, and it becomes that...

I just rename the hips to pelvis, it's the same joint

Actually, I already did that  where RHip index = 1 and LHip index = 4

spine index = 7 From the point of view of the skeleton，It seems to a correct T other except pelvis.  But some frame, the spine seems not very good...

When I calculate, I use the offset of my standard joints in the 2nd image in my original post. In my original post, I set hips world position and joints...

I mean I have two skeleton. One is the defined skeleton(left), and the other it the debug skeleton now 

It seems that in current frame the x is not correct the result  modified x