obj.parent returns the armature, so obj.matrix_local is relative to the armature and not the bone it's parented to. I can get the bone object using obj.parent.data.bones[obj.parent_bone], and I'm trying to get absolute transformations using
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armature.matrix_world * parentBone.matrix_local * obj.matrix_basis
For what it's worth, I would probably settle for translation and rotation relative to the parent bone itself. I use quaternions for rotations.