def computePose(self, frameFraction):
    frameData = self._mocap_data._motion_data['Frames'][self._frame]
    frameDataNext = self._mocap_data._motion_data['Frames'][self._frameNext]

    self._poseInterpolator.Slerp(frameFraction, frameData, frameDataNext, self._pybullet_client)
    #print("self._poseInterpolator.Slerp(", frameFraction,")=", pose)
    self.computeCycleOffset()
    oldPos = self._poseInterpolator._basePos
    self._poseInterpolator._basePos = [
        oldPos[0] + self._cycleCount * self._cycleOffset[0],
        oldPos[1] + self._cycleCount * self._cycleOffset[1],
        oldPos[2] + self._cycleCount * self._cycleOffset[2]
    ]
    pose = self._poseInterpolator.GetPose()

    return pose