How to animate between two prefabs?

I’ve got a model robot walker that transforms into a ball. I’ve got the walking and ball forms exported as FBX’s and have animated a walk for it. The problem I have is that because of the pivot points of the legs I cannot move them back into the ball form. Both FBX prefabs have the same names for each body part and are just the same pieces in different positions

I want to know if there is a way that I can set the start and end of the animation to be the stood up and rolled up and let unity tween between the two.

I’m also in the Unity 5.50.b7 if that’s important as well.

You need to create an animation of the robot transforming into ball form and export that animation to Unity.
,You need to animate the robot changing into ball form and export that animation into Unity.