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Z 轴和 X 轴有 2 个 DOF 方向，如何在 2 个方向之间进行插值？我已经使用四元数和旋转矩阵对 slerp 进行了 3 DOF 方向的内插以进行逆运动学，但是我无法处理 2 DOF orientaion one。