Create locators on selected objects, vertices, edge or face centers and bake animation to them.
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for example,a joint chain as below
j_10
|--j_21
|--J_31
|--j_22
|--J_32
run locOnloc for j_21 and j_22,
the result :
j_21 is OK, but j_22 is NG. (Translates are OK, but rotations are NG. )