I’m not sure if this is an oversight, or intentional. I notice that AnimateLimbIK uses a ‘TransformRefPosition targetPosition’ property to control the IK position of the limb. However, LimbIK supports both Position and Rotation, and being unable to set the Rotation is a big limitation.

AnimateBipedLimb, on the other hand, uses a TransformRefPositionRotation IKTarget property, to track the Position and Rotation of the IK limb.

I copy/pasted AnimateLimbIK to create a new clip, which replaces the TransformRefPosition with a TransformRefPositionRotation, and all seems well. So I’m not sure why AnimateLimbIK  doesn’t use TransformRefPositionRotation while AnimateBipedLimb does. Perhaps something to be tweaked in a future version of the FinalIK tools, though probably as a new clip to avoid breaking existing AnimateLimbIK  usage.

(As I said, I’ve already rolled my own, so this is just to report the concern, not request any immediate assistance.)