I was thinking about scripting with MMD motion data or just script driven by MMD motion data.
Or in general, how to use skeleton animation to generating Funscript.
As far as I know, for multi-axis, VAM OSR plugins should be a good start, but the math is not the easy to understand. For single axis, there is LoveMachine, which also use animation data as data source for controlling the toy.
I am not sure if there is anything else I have missed, that do something similar.
Somebody already asked here on the forum, I answered that I don’t see anything complicated - to get data for scripts from animations.
You need to use distances and angles from the difference of two bones (pelvis/pelvis and head/pelvis and arm) and you will have a frame-by-frame multi-axis script at once. Further you can write this difference as a vector and Euler angles ZXY and convert it into scripts for axes - for example as I do when exporting from Blender.