int verbose = chi("verbose_debug");
// Get foot offsets (Local Space)
vector footoffsets[] = point(0, "agentrig_footoffsets", @ptnum);
// Joint names (e.g., LeftFoot, LeftToe_End, etc.)
string joints[] = s[]@agentrig_lowerlimbs;
string joint_names[] = array(joints[2], joints[3], joints[6], joints[7]);
// Additional Offsets (World Space)
vector additional_offsets[] = array(
    chv("add_left_ankle"),
    chv("add_left_toe"),
    chv("add_right_ankle"),
    chv("add_right_toe")
);
// Joint indices
int joint_indices[] = array();
foreach (string name; joint_names)
    append(joint_indices, agentrigfind(0, @primnum, name));
// Get local transforms for all joints
matrix local_xforms[] = agentlocaltransforms(0, @primnum);
// Convert to world transforms
matrix world_xforms[] = local_xforms;
agenttransformtoworld(0, @primnum, world_xforms);
// For each joint of interest
for (int i = 0; i < len(joint_indices); i++)
{
    int joint_idx = joint_indices[i];
    if (joint_idx < 0 || joint_idx >= len(world_xforms)) continue;
    string joint_name = joint_names[i];
    matrix local_xform = local_xforms[joint_idx];
    matrix world_xform = world_xforms[joint_idx];
    // Transform foot offset to world space
    vector foot_offset_local = footoffsets[i];
    vector foot_offset_world = foot_offset_local * world_xform;
    // Add the world-space offset
    vector foot_offset_world_new = foot_offset_world + additional_offsets[i];
    // Convert the updated offset back to joint-local space
    vector foot_offset_local_new = foot_offset_world_new * invert(world_xform);
    // Store result
    footoffsets[i] = foot_offset_local_new;
    if (verbose)
    {
        printf("\n=== [%s] Joint idx %d ===\n", joint_name, joint_idx);
        printf("Original Foot Offset (Local Space):             %g\n", foot_offset_local);
        printf("Original Foot Offset (World Space):             %g\n", foot_offset_world);
        printf("Additional Offset (World Space):                %g\n", additional_offsets[i]);
        printf("New Foot Offset (World Space):                  %g\n", foot_offset_world_new);
        printf("New Foot Offset (Local Space):                  %g\n", foot_offset_local_new);
        printf("[%s] World Transform:\n", joint_name);
        for (int r = 0; r < 4; r++) {
            vector row = set(
                getcomp(world_xform, r, 0),
                getcomp(world_xform, r, 1),
                getcomp(world_xform, r, 2)
            );
            printf("Row %d: %g %g %g\n", r, row.x, row.y, row.z);
        }
        printf("[%s] Local Transform:\n", joint_name);
        for (int r = 0; r < 4; r++) {
            vector row = set(
                getcomp(local_xform, r, 0),
                getcomp(local_xform, r, 1),
                getcomp(local_xform, r, 2)
            );
            printf("Row %d: %g %g %g\n", r, row.x, row.y, row.z);
        }
    }
}
// Save updated offsets back
setpointattrib(0, "agentrig_footoffsets", @ptnum, footoffsets, "set");