You'd have to be careful about the rotation order (bones use ZYX) and the presence of any pretransforms on the objects.
If you're not trying to transfer it back onto the original rig, the following snippet may be a useful starting point - it builds a joint hierarchy and sets their transforms to match the agent's current pose.
# 'agent' is a hou.Agent instance, such as geo.iterPrims() root = hou.node("/obj") subnet = root.createNode("subnet", "import_from_agent") rig = agent.definition().rig() # Create joints. joints =  for xform_idx in range(0, rig.transformCount()): xform_name = rig.transformName(xform_idx) joint = subnet.createNode("null", xform_name) joint.setParmTransform(agent.localTransform(xform_idx)) joints.append(joint) # Wire up the nodes. for xform_idx, joint in enumerate(joints): parent_idx = rig.parentIndex(xform_idx) if parent_idx >= 0: joint.setNextInput(joints[parent_idx]) subnet.layoutChildren()