Hello guys! I'm trying to implement a smooth getting up from ragdoll to animation

I have:

1. Generic rig (Humanoid does not work correctly, thanks to my 3d artist)

2. Only blend tree in animator (idle, move left, move right, move forward, move backward).

   ---

   What I already tried to:

3. Do not disable animator, just transition to empty state

4. t value in Lerp (from 0 to 1) work smoothly, no big steps

5. Instantiate a copy of my character right before cache bones to check that bones cached correctly

   ---

   I Actually know how it works:

6. enable ragdoll and disable animator

7. cache all rigidbody bones

8. disable ragdoll and enable animator

9. start lerping from cached bones to animated bones in LateUpdate

   ---

It's work, but not completely. There is a awkward teleport in first frame when blending is started in LateUpdate

Video with bug
Video reference

Here is my code with syntax highligthing https://pastebin.com/dZcVr9hZ

PushHero() is entry point method

Or the same code below

 private void LateUpdate()
         {
             if (_isLerping == false)
                 return;
 
             _lerp += GameParameters.Instance.StandUpLerpRate * Time.deltaTime;
 
             for (int i = 0; i < _allRigidbodies.Length; i++)
             {
                 _allRigidbodies[i].transform.localPosition = Vector3.Lerp(_fallenBonesPositions[i],
                 _allRigidbodies[i].transform.localPosition, _lerp);
                 
                 _allRigidbodies[i].transform.rotation = Quaternion.Lerp(_fallenBonesAngles[i],
                     _allRigidbodies[i].transform.rotation, _lerp);
             }
         }
 
         [ContextMenu("PushHero")]
         public void PushHero()
         {
             _characterController.enabled = false;
             _animator.enabled = false;
             ActivateRagdoll();
             _pushBone.AddForce((-transform.forward + Vector3.up) * GameParameters.Instance.PushForce,
                 ForceMode.Impulse);
             StartCoroutine(ReturnToIdlePositionAfterSleepTime());
         }
 
         private void ActivateRagdoll()
         {
             for (int i = 0; i < _allRigidbodies.Length; i++)
             {
                 _allRigidbodies[i].isKinematic = false;
             }
         }
 
         private IEnumerator ReturnToIdlePositionAfterSleepTime()
         {
             yield return new WaitForSeconds(GameParameters.Instance.RagdollSleepTime);
             DeactivateRagdoll();
             CacheFallenBones();
             ResetArmatureToZeroAndMovePrefabToArmature();
             _characterController.enabled = true;
             _animator.enabled = true;
 
             _isLerping = true;
             _lerp = 0;
 
             while (_lerp < 1)
             {
                 yield return null;
             }
 
             _isLerping = false;
         }
 
         private void CacheFallenBones()
         {
             _fallenBonesPositions = new Vector3[_allRigidbodies.Length];
             _fallenBonesAngles = new Quaternion[_allRigidbodies.Length];
 
             for (int i = 0; i < _allRigidbodies.Length; i++)
             {
                 _fallenBonesPositions[i] = _allRigidbodies[i].transform.localPosition;
                 _fallenBonesAngles[i] = Quaternion.Euler(_allRigidbodies[i].transform.localEulerAngles);
             }
         }
 
         private void ResetArmatureToZeroAndMovePrefabToArmature()
         {
             var armatureGlobalPosition = _rootBone.position;
             transform.position = armatureGlobalPosition;
             _rootBone.localPosition = Vector3.zero;
         }
 
         private void DeactivateRagdoll()
         {
             for (int i = 0; i < _allRigidbodies.Length; i++)
             {
                 _allRigidbodies[i].isKinematic = true;
             }
         }