Okay, done! I'm writing here the solution, so it could be helpful if someone will have my same problem!
Basically, I've inverted a linear relationship between the vector, that is:
p0=o10+R*p1
Now, if you know p0 and p1, you can calculate R and then:
o10=p0-R*p1
It's been really easy, but I didn't know this equation.
I hope it can help someone else! :D
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