In your actor settings panel check to see if you have active clicked. If its on, then as you assign your TRC data (or whatever your using) Your actor will automatically adjust itself to the setting, even if you haven't gotten it perfectly matched up with your mocap data. If you have active turned off then your actor wont automatically jump to ridiculous positions, and the actor is locked because it has animation is baked to it, Hence why you can't rotate or translate any of the body parts.
I'm actually having similar issues, just within placing the character with in the cloud of opticals. Frankly, I think we would both do alot better if we figured out a good schematic that determines what Sensor is assigned to which part of the actor settings. Personally, I think the diagram is a little confusing.