def animate_armature(frame, armature, armatureObj, pose_bones, child, offset=None):
    name = child.name
    pose_bone = pose_bones[name]
    rest_bone = armature.bones[name]

    frame_vals = frame.bones.get(name, Vector())
    offset = offset or Vector(0., 0., 0.)

    rvals = (radians(frame_vals.x), radians(frame_vals.y), radians(frame_vals.z))
    cx, cy, cz = cos(rvals)
    sx, sy, sz = sin(rvals)
    trans_matrix = array([
        [cy*cz, -cx*sz + sx*sy*cz,  sx*sz + cx*sy*cz, 0.],
        [cy*sz,  cx*cz + sx*sy*sz, -sx*cz + cx*sy*sz, 0.],
        [-sy,    sx*cy,             cx*cy           , 0.],
        [0.,     0.,                0.,               1.],
    ]).T

    offset_matrix = array([
        [1., 0., 0., offset.x],
        [0., 1., 0., offset.y],
        [0., 0., 1., offset.z],
        [0., 0., 0., 1.]
    ])

    trans_matrix = dot(dot(dot(offset_matrix, child.axis_rot), trans_matrix), child.axis_rot_inv)

    mat = asmatrix(trans_matrix)[:3,:3].T.I
    result = toEulerXYZ(array(mat, copy=False))

    mats = [RotationMatrix(degrees(result[0])%360,3,'x'), RotationMatrix(degrees(result[1])%360,3,'y'), RotationMatrix(degrees(result[2])%360,3,'z')]
    bone_rotation_matrix = (mats[2]*(mats[1]* (mats[0]* MATRIX_IDENTITY_3x3))).resize4x4()

    bone_rest_matrix = rest_bone.matrix['ARMATURESPACE'].rotationPart().resize4x4()
    bone_rest_matrix_inv = Matrix(bone_rest_matrix).invert()

    pose_bone.quat = (bone_rest_matrix * bone_rotation_matrix * bone_rest_matrix_inv).toQuat()
    pose_bone.insertKey(armatureObj, frame.number, [Blender.Object.Pose.ROT], True)

    new_offset = Vector([x*child.length for x in child.direction])
    for child in child.children:
        animate_armature(frame, armature, armatureObj, pose_bones, child, new_offset)