Extract keyframe info from animation clips

I have a 100 frame walk animation for example and I want to extract the elbow position, orientation (global/local whatever works) from the clip at any frame say 24.

Is there any way to do it?

I would simply do something like this:

AnimationState state = animation["walk"];
state.enabled = true;
state.weight = 1;
state.normalizedTime = 24.0f / 100;

Transform t = transform.Find("root/pathToElbow/elbow");
Debug.Log("Global position: " + t.position);

Alternative is to read actual curves/keyframes. You can do that only in Editor using AnimationUtility class.

Paulius has great suggestions. you can also check out AnimationEvent.time in script

here is a page from the docs describing Animation Events