diff --git a/mimic3/scripts/mimic_program.py b/mimic3/scripts/mimic_program.py
index 041c65f..5ae5be5 100644
--- a/mimic3/scripts/mimic_program.py
+++ b/mimic3/scripts/mimic_program.py
@@ -8,6 +8,7 @@
 try:
     import pymel.core as pm
     import maya.mel as mel
+    import numpy as np
 
     MAYA_IS_RUNNING = True
 except ImportError:  # Maya is not running
@@ -937,6 +938,7 @@ def _get_frames_using_sample_rate(animation_settings, postproc_settings):
 def _get_frames_using_keyframes_only(robot, animation_settings):
     """
     Get frames from animation using a robot's keyframes only.
+    This will include ANY keyframe set on either IK tool_CTRL or any of the 6 FK_CTRL handles.
     :param robot:
     :param animation_settings:
     :return:
@@ -944,6 +946,7 @@ def _get_frames_using_keyframes_only(robot, animation_settings):
     # Get relevant animation parameters.
     start_frame = animation_settings['Start Frame']
     end_frame = animation_settings['End Frame']
+
     # Get list of keyframes on robots IK attribute for the given range
     target_ctrl_path = mimic_utils.get_target_ctrl_path(robot)
     ik_keyframes = pm.keyframe(
@@ -951,15 +954,47 @@ def _get_frames_using_keyframes_only(robot, animation_settings):
         attribute='ik',
         query=True,
         time='{}:{}'.format(start_frame, end_frame))
-    # Verify that there is also a keyframe set on the FK controls' rotate
-    # attributes. If there's not, we remove it from the list
-    # Note: we only need to check one controller as they are all keyframed
-    # together
-    fk_test_handle_path = mimic_utils.format_path('{0}|{1}robot_GRP|{1}FK_CTRLS|{1}a1FK_CTRL.rotateY', robot)
-    frames = [frame for frame in ik_keyframes if pm.keyframe(
-        fk_test_handle_path,
+    
+    # Get all FK keyframes set per each individual joints
+    fk_1_path = mimic_utils.format_path('{0}|{1}robot_GRP|{1}FK_CTRLS|{1}a1FK_CTRL.rotateY', robot)
+    fk_1_keyframes = pm.keyframe(
+        fk_1_path,
+        query=True,
+        time='{}:{}'.format(start_frame, end_frame))
+    
+    fk_2_path = mimic_utils.format_path('{0}|{1}robot_GRP|{1}FK_CTRLS|{1}a2FK_CTRL.rotateX', robot)
+    fk_2_keyframes = pm.keyframe(
+        fk_2_path,
+        query=True,
+        time='{}:{}'.format(start_frame, end_frame))
+    
+    fk_3_path = mimic_utils.format_path('{0}|{1}robot_GRP|{1}FK_CTRLS|{1}a3FK_CTRL.rotateX', robot)
+    fk_3_keyframes = pm.keyframe(
+        fk_3_path,
+        query=True,
+        time='{}:{}'.format(start_frame, end_frame))
+    
+    fk_4_path = mimic_utils.format_path('{0}|{1}robot_GRP|{1}FK_CTRLS|{1}a4FK_CTRL.rotateY', robot)
+    fk_4_keyframes = pm.keyframe(
+        fk_4_path,
+        query=True,
+        time='{}:{}'.format(start_frame, end_frame))
+    
+    fk_5_path = mimic_utils.format_path('{0}|{1}robot_GRP|{1}FK_CTRLS|{1}a5FK_CTRL.rotateX', robot)
+    fk_5_keyframes = pm.keyframe(
+        fk_5_path,
+        query=True,
+        time='{}:{}'.format(start_frame, end_frame))
+    
+    fk_6_path = mimic_utils.format_path('{0}|{1}robot_GRP|{1}FK_CTRLS|{1}a6FK_CTRL.rotateZ', robot)
+    fk_6_keyframes = pm.keyframe(
+        fk_6_path,
         query=True,
-        time=frame)]
+        time='{}:{}'.format(start_frame, end_frame))
+
+    # combine all keyframe lists as one unique and deduplicated list
+    frames = list(np.unique(ik_keyframes + fk_1_keyframes + fk_2_keyframes + fk_3_keyframes + fk_4_keyframes + fk_5_keyframes + fk_6_keyframes))
+
     return frames