Three.js - How to animate a 3D model using data from pose estimation

Question

I'm trying to use pose estimation coordinates to animate a rigged model in three.js The pose estimation tech I'm using provides real time x,y,z coordinates from a person in a video feed and I'm trying to use those to move the 3D model accordingly. I used the code below (some of which I found in an answer to a related question) as a starting point...

let camera, scene, renderer, clock, rightArm;

init();
animate();

function init() {

  camera = new THREE.PerspectiveCamera(45, window.innerWidth / window.innerHeight, 0.01, 10);
  camera.position.set(2, 2, -2);

  clock = new THREE.Clock();

  scene = new THREE.Scene();
  scene.background = new THREE.Color(0xffffff);

  const light = new THREE.HemisphereLight(0xbbbbff, 0x444422);
  light.position.set(0, 1, 0);
  scene.add(light);

  // model
  const loader = new THREE.GLTFLoader();
  loader.load('https://threejs.org/examples/models/gltf/Soldier.glb', function(gltf) {

    const model = gltf.scene;

    rightArm = model.getObjectByName('mixamorigRightArm');

    scene.add(model);

  });

  renderer = new THREE.WebGLRenderer({
    antialias: true
  });
  renderer.setPixelRatio(window.devicePixelRatio);
  renderer.setSize(window.innerWidth, window.innerHeight);
  renderer.outputEncoding = THREE.sRGBEncoding;
  document.body.appendChild(renderer.domElement);

  window.addEventListener('resize', onWindowResize, false);

  const controls = new THREE.OrbitControls(camera, renderer.domElement);
  controls.target.set(0, 1, 0);
  controls.update();

}

function onWindowResize() {

  camera.aspect = window.innerWidth / window.innerHeight;
  camera.updateProjectionMatrix();

  renderer.setSize(window.innerWidth, window.innerHeight);

}

//This was my attempt at deriving the rotation from two vector3's and applying it to the model
//storedresults is simply an array where I store the pose estimation data for a given position
//getPosition is just a helper function for getting the vector three for a specific position
function setRightArmRotation() {
  if (rightArm) {
    if (storedresults === undefined || storedresults.length == 0) {
      return;
    } else {
      if (vectorarray.length < 2) {
        vectorarray.push(getPosition(12));
      } else {
        vectorarray.pop();
        vectorarray.push(getPosition(12));
        var quaternion = new THREE.Quaternion();
        quaternion.setFromUnitVectors(vectorarray[0], vectorarray[1]);
        var matrix = new THREE.Matrix4();
        matrix.makeRotationFromQuaternion(quaternion);
        rightArm.applyMatrix4(matrix);
      }
    }
  }
}

function animate() {

  requestAnimationFrame(animate);

  const t = clock.getElapsedTime();

  if (rightArm) {

    rightArm.rotation.z += Math.sin(t) * 0.005;
    //setRightArmRotation()

  }

  renderer.render(scene, camera);

}

<script src="https://cdn.jsdelivr.net/npm/three@0.125.2/build/three.js"></script>
<script src="https://cdn.jsdelivr.net/npm/three@0.125.2/examples/js/loaders/GLTFLoader.js"></script>
<script src="https://cdn.jsdelivr.net/npm/three@0.125.2/examples/js/controls/OrbitControls.js"></script>

I also referred to this answer on finding rotations from two vectors but I haven't been successful in implementing it to achieve the desired results... How to find rotation matrix between two vectors

I can get the Vector3 from the pose estimation tech easily, and I understand how most of what is in the jsfiddle works but I can't seem to put it all together to get the desired result of having my 3D model 'mirror' the movement of what is in my video using the pose estimation coords. I pretty much can just get the model to 'thrash around'.

As I understand it I need to manipulate the rotations of the bones to achieve the desired results, and to do that I need to compute those rotations using two vectors, but again after much research and trial and error I just can't seem to put it all together. Any help would be appreciated.