import bpy
import bmesh
from time import ctime

def bm_cor (mworld,bm):
    x, y, z = 0.0, 0.0, 0.0
    for v in bm.verts:
        v_x, v_y, v_z = mworld @ v.co
        x += v_x
        y += v_y
        z += v_z
    num = len(bm.verts)
    x /= num
    y /= num
    z /= num
    return x, y, z

print("Start body_loc_wr at ",ctime())

context = bpy.context

tR_ob     = bpy.data.objects['toe.R.G']
tR_mworld = tR_ob.matrix_world
tL_ob     = bpy.data.objects['toe.L.G']
tL_mworld = tL_ob.matrix_world

for frame in range(int(footN),int(footE)+1):
    print("KK10:",frame,tstate)
    bpy.data.scenes['Scene'].frame_set(frame)
    context.view_layer.update()
    depsgraph = context.evaluated_depsgraph_get()

    tR_bm = bmesh.new()
    tR_bm.from_object(tR_ob, depsgraph)
    x, y, z = 0.0, 0.0, 0.0
    for v in tR_bm.verts:
        v_x, v_y, v_z = tR_mworld @ v.co
        x += v_x
        y += v_y
        z += v_z
       
    num_verts = len(tR_bm.verts)
    x /= num_verts
    y /= num_verts
    z /= num_verts

    x1,y1,z1=bm_cor(tR_mworld,tR_bm)
    tR_bm.free()

    xR6,yR6,zR6=x,y,z
 
    tL_bm = bmesh.new()
    tL_bm.from_object(tL_ob, depsgraph)
    x, y, z = 0.0, 0.0, 0.0
    for v in tL_bm.verts:
        v_x, v_y, v_z = tL_mworld @ v.co
        x += v_x
        y += v_y
        z += v_z
       
    num_verts = len(tL_bm.verts)
    x /= num_verts
    y /= num_verts
    z /= num_verts
    x1,y1,z1=bm_cor(tL_mworld,tL_bm)
    tL_bm.free()