diff --git a/Assets/External/OptiTrack Unity Plugin/OptiTrack/Scripts/OptitrackSkeletonAnimator_Mingle.cs b/Assets/External/OptiTrack Unity Plugin/OptiTrack/Scripts/OptitrackSkeletonAnimator_Mingle.cs
index 1571e7b75..9a99205dd 100644
--- a/Assets/External/OptiTrack Unity Plugin/OptiTrack/Scripts/OptitrackSkeletonAnimator_Mingle.cs	
+++ b/Assets/External/OptiTrack Unity Plugin/OptiTrack/Scripts/OptitrackSkeletonAnimator_Mingle.cs	
@@ -67,6 +67,20 @@ public class OptitrackSkeletonAnimator_Mingle : MonoBehaviour
     // OptiTrack 본 이름 → Transform 빠른 캐시 (GetMappedTransform O(n) → O(1))
     private Dictionary<string, Transform> m_optiNameTransformCache = new Dictionary<string, Transform>();
 
+    // 필터 적용 전 raw 월드 위치 (IK 타겟용 — 접지력 보존)
+    private Dictionary<HumanBodyBones, Vector3> m_rawWorldPositions = new Dictionary<HumanBodyBones, Vector3>();
+
+    // raw 위치를 캡처할 IK 포인트 본 목록
+    private static readonly HumanBodyBones[] k_IKPointBones = new HumanBodyBones[]
+    {
+        HumanBodyBones.LeftFoot,
+        HumanBodyBones.RightFoot,
+        HumanBodyBones.LeftHand,
+        HumanBodyBones.RightHand,
+        HumanBodyBones.LeftToes,
+        HumanBodyBones.RightToes,
+    };
+
 
     // 스파인/넥 체인 Transform 캐시 (GetSpineChainTransforms 매 호출 List 할당 방지)
     private List<Transform> m_spineChainCache = new List<Transform>();
@@ -261,36 +275,77 @@ public class OptitrackSkeletonAnimator_Mingle : MonoBehaviour
         m_lastFrameTimestamp    = frameTs;
         m_hasLastFrameTimestamp = true;
 
-        // ── 각 본 업데이트 ───────────────────────────────────────────────────────
-        foreach (var bone in m_skeletonDef.Bones)
+        // ── Pass 1: Raw 데이터 적용 → IK 포인트 월드 위치 캡처 ──────────────────
+        // 필터가 활성화되어 있을 때만 two-pass, 비활성이면 single-pass
+        if (enableBoneFilter)
         {
-            if (!m_boneIdToMappingIndex.TryGetValue(bone.Id, out int mappingIdx))
-                continue;
-
-            var mapping = boneMappings[mappingIdx];
-            if (!mapping.isMapped || mapping.cachedTransform == null)
-                continue;
-
-            if (mapping.applyRotation)
+            // Raw 데이터로 모든 본 업데이트 (필터 없이)
+            foreach (var bone in m_skeletonDef.Bones)
             {
-                if (!m_snapshotOrientations.TryGetValue(bone.Id, out Quaternion finalOri))
+                if (!m_boneIdToMappingIndex.TryGetValue(bone.Id, out int mappingIdx))
+                    continue;
+                var mapping = boneMappings[mappingIdx];
+                if (!mapping.isMapped || mapping.cachedTransform == null)
                     continue;
 
-                if (enableBoneFilter)
-                    finalOri = ApplyOneEuroOri(bone.Id, finalOri, m_natNetDt);
-
-                mapping.cachedTransform.localRotation = finalOri;
+                if (mapping.applyRotation && m_snapshotOrientations.TryGetValue(bone.Id, out Quaternion rawOri))
+                    mapping.cachedTransform.localRotation = rawOri;
+                if (mapping.applyPosition && m_snapshotPositions.TryGetValue(bone.Id, out Vector3 rawPos))
+                    mapping.cachedTransform.localPosition = rawPos;
             }
 
-            if (mapping.applyPosition)
+            // Raw 상태에서 IK 포인트 월드 위치 캡처
+            foreach (var ikBone in k_IKPointBones)
             {
-                if (!m_snapshotPositions.TryGetValue(bone.Id, out Vector3 finalPos))
+                Transform t = GetBoneTransform(ikBone);
+                if (t != null)
+                    m_rawWorldPositions[ikBone] = t.position;
+            }
+
+            // Pass 2: 필터 적용된 데이터로 덮어쓰기
+            foreach (var bone in m_skeletonDef.Bones)
+            {
+                if (!m_boneIdToMappingIndex.TryGetValue(bone.Id, out int mappingIdx))
+                    continue;
+                var mapping = boneMappings[mappingIdx];
+                if (!mapping.isMapped || mapping.cachedTransform == null)
                     continue;
 
-                if (enableBoneFilter)
+                if (mapping.applyRotation && m_snapshotOrientations.TryGetValue(bone.Id, out Quaternion finalOri))
+                {
+                    finalOri = ApplyOneEuroOri(bone.Id, finalOri, m_natNetDt);
+                    mapping.cachedTransform.localRotation = finalOri;
+                }
+                if (mapping.applyPosition && m_snapshotPositions.TryGetValue(bone.Id, out Vector3 finalPos))
+                {
                     finalPos = ApplyOneEuroPos(bone.Id, finalPos, m_natNetDt);
+                    mapping.cachedTransform.localPosition = finalPos;
+                }
+            }
+        }
+        else
+        {
+            // 필터 비활성: single-pass, raw = filtered
+            foreach (var bone in m_skeletonDef.Bones)
+            {
+                if (!m_boneIdToMappingIndex.TryGetValue(bone.Id, out int mappingIdx))
+                    continue;
+                var mapping = boneMappings[mappingIdx];
+                if (!mapping.isMapped || mapping.cachedTransform == null)
+                    continue;
 
-                mapping.cachedTransform.localPosition = finalPos;
+                if (mapping.applyRotation && m_snapshotOrientations.TryGetValue(bone.Id, out Quaternion finalOri))
+                    mapping.cachedTransform.localRotation = finalOri;
+                if (mapping.applyPosition && m_snapshotPositions.TryGetValue(bone.Id, out Vector3 finalPos))
+                    mapping.cachedTransform.localPosition = finalPos;
+            }
+
+            // 필터 없으면 현재 Transform 위치가 곧 raw
+            foreach (var ikBone in k_IKPointBones)
+            {
+                Transform t = GetBoneTransform(ikBone);
+                if (t != null)
+                    m_rawWorldPositions[ikBone] = t.position;
             }
         }
 
@@ -571,6 +626,16 @@ public class OptitrackSkeletonAnimator_Mingle : MonoBehaviour
         { HumanBodyBones.RightLittleDistal, "RPinky3" },
     };
 
+    /// <summary>
+    /// 1€ 필터 적용 전의 raw 월드 위치를 반환합니다.
+    /// IK 타겟(발 접지 등)에 사용하면 필터 스무딩으로 인한 접지력 저하를 방지합니다.
+    /// 지원 본: LeftFoot, RightFoot, LeftHand, RightHand, LeftToes, RightToes
+    /// </summary>
+    public bool TryGetRawWorldPosition(HumanBodyBones bone, out Vector3 position)
+    {
+        return m_rawWorldPositions.TryGetValue(bone, out position);
+    }
+
     /// <summary>
     /// HumanBodyBones enum으로 OptiTrack 매핑된 Transform 반환
     /// (Humanoid 호환 레이어 — sourceAnimator.GetBoneTransform() 대체)
diff --git a/Assets/Scripts/KindRetargeting/CustomRetargetingScript.cs b/Assets/Scripts/KindRetargeting/CustomRetargetingScript.cs
index 467a1ff05..af4ede1a7 100644
--- a/Assets/Scripts/KindRetargeting/CustomRetargetingScript.cs
+++ b/Assets/Scripts/KindRetargeting/CustomRetargetingScript.cs
@@ -1268,7 +1268,13 @@ namespace KindRetargeting
 
             if (sourceBone != null && targetBone != null)
             {
-                Vector3 targetPosition = sourceBone.position;
+                // 1€ 필터 적용 전 raw 위치 사용 (접지력 보존)
+                // raw가 없으면 필터된 Transform.position fallback
+                Vector3 targetPosition;
+                if (optitrackSource != null && optitrackSource.TryGetRawWorldPosition(endBone, out Vector3 rawPos))
+                    targetPosition = rawPos;
+                else
+                    targetPosition = sourceBone.position;
                 Quaternion targetRotation = targetBone.rotation;
 
                 // 발 본인 경우 오프셋 적용