将固定框架的骨架坐标转换为链接到骨架的移动框架

如何解决将固定框架的骨架坐标转换为链接到骨架的移动框架

我有固定框架 R0 中骨骼关节的坐标 [x,y,z] 链接到相机。我想制作一个python脚本来从链接到相机的固定框架R0传输这些坐标，在链接到身体中间的原始骨架的移动框架中表达它们。例如节段Joint _24 和Joint _23 的中间以及穿过joint _0 的轴。框架R1必须贴在骨架上，也就是说它会跟随骨架的运动。我希望我的 python 脚本在输出中提供移动框架 R1 中关节的坐标。

非常感谢您的帮助

{
  "pose":{
    "joint_0":[
      0.057,0.708,-2.237
    ],"joint_1":[
      0.04,0.741,-2.232
    ],"joint_2":[
      0.025,0.756,-2.271
    ],"joint_3":[
      0.013,0.758,-2.276
    ],"joint_4":[
      0.076,0.737,-2.227
    ],"joint_5":[
      0.091,0.746,-2.256
    ],"joint_6":[
      0.102,0.75,"joint_7":[
      -0.004,0.744,"joint_8":[
      0.11,-2.286
    ],"joint_9":[
      0.03,0.677,"joint_10":[
      0.071,0.669,"joint_11":[
      -0.122,0.55,-2.307
    ],"joint_12":[
      0.205,0.543,-2.354
    ],"joint_13":[
      -0.172,0.273,-2.302
    ],"joint_14":[
      0.248,0.266,-2.328
    ],"joint_15":[
      -0.198,0.05,-2.291
    ],"joint_16":[
      0.275,0.048,-2.317
    ],"joint_17":[
      -0.226,-0.022,"joint_18":[
      0.298,-0.02,-2.338
    ],"joint_19":[
      -0.197,-0.027,"joint_20":[
      0.281,-0.025,-2.322
    ],"joint_21":[
      -0.178,-0.002,"joint_22":[
      0.265,0.003,"joint_23":[
      -0.046,0.025,-2.251
    ],"joint_24":[
      0.144,0.03,"joint_25":[
      -0.04,-0.375,-2.349
    ],"joint_26":[
      0.152,-0.354,"joint_27":[
      -0.028,-0.753,-2.421
    ],"joint_28":[
      0.142,-0.741,-2.461
    ],"joint_29":[
      -0.007,-0.755,"joint_30":[
      0.123,-0.764,-2.398
    ],"joint_31":[
      -0.012,-0.816,-2.261
    ],"joint_32":[
      0.155,-0.805,-2.251
    ]
  }
}

"joint_i": [x,z] 其中i代表join的个数。

我使用这种类型的骨架：