Select the boots.
Go to Figure > IK Chains and ensure all legs are turned ON
Select right foot and set all translation dials to zero. (They may already be zero but best to check.)
Select left foot and do the same thing.
Go to Figure > IK Chains and turn all legs OFF
Open the joint editor and click the Zero Figure button.
Now the magic bit, go to Edit > Memorize > Figure.
Save the figure to the library.

What is the result?

(You may need to save to the library then reload to see the result.)