如何将此统一运动脚本转换为刚体？

import numpy as np

# 假设我们有一个统一运动脚本的关键帧数据
keyframes = [
    {"time": 0, "position": [0, 0, 0], "rotation": [0, 0, 0]},
    {"time": 1, "position": [1, 1, 1], "rotation": [np.pi/4, 0, 0]},
]

# 提取关键帧数据
positions = [kf["position"] for kf in keyframes]
rotations = [kf["rotation"] for kf in keyframes]

# 计算刚体的平移和旋转矩阵
def compute_transform(positions, rotations):
    transforms = []
    for pos, rot in zip(positions, rotations):
        translation_matrix = np.eye(4)
        translation_matrix[:3, 3] = pos
        
        rotation_matrix = np.eye(4)
        rotation_matrix[:3, :3] = np.array([
            [np.cos(rot[0]), -np.sin(rot[0]), 0],
            [np.sin(rot[0]), np.cos(rot[0]), 0],
            [0, 0, 1]
        ])
        
        transform = translation_matrix @ rotation_matrix
        transforms.append(transform)
    
    return transforms

transforms = compute_transform(positions, rotations)

# 应用变换到刚体模型
for transform in transforms:
    # 这里可以应用变换到你的刚体模型
    pass