I want to split "rest" column to new columns by comma and drop "R=". And also add +1 to "joints" column. How can i do?

```
df
     joints           rest
          0  R=0,0,1,1,1,1
          3  R=0,0,1,1,1,1
         42  R=0,0,1,1,1,1
         45  R=0,0,1,1,1,1

```

I want to do like this:

```
joints U1 U2 U3 R1 R2 R3
1      0  0  1  1  1  1
4      0  0  1  1  1  1
43     0  0  1  1  1  1
46     0  0  1  1  1  1

```