Hey,
Your question is a little difficult to understand.
3d position of all the joints? Not quite sure...
If you're saying that you have an optical data file (.trc or .c3d) yes, you can create a Motionbuilder Actor, make a markerset and assign the markers to drive corresponding body parts... characterize and assign your "human skeleton" character, set to Actor as input and you'd be good to go.
If you're saying that you have a solved skeleton file (.htr or .bvh or exported .fbx) then again yes, you can characterize those bones, and assign your characterized "human skeleton" to Character as input, and they'll follow that.
Not sure if that answers you, but best of luck