Baking Keyframes from parent movement?

Hi,

so I have a 2D scene with a character and some MoCap data that I exported from Blender, w$$anonymous$$ch is just a few cubes moving.

Now I have parented my characters limbs so that they move with my animated cubes, w$$anonymous$$ch works really well.

But I'd like to get rid of the cubes, or in other words, bake the translation of the limbs that is caused by the parent-c$$anonymous$$ld relations$$anonymous$$p into keyframes for the c$$anonymous$$ld.

Is there a (simple) way to do that?