(self, offset, kinematic_tree, device)
| 3 | |
| 4 | class Skeleton(object): |
| 5 | def __init__(self, offset, kinematic_tree, device): |
| 6 | self.device = device |
| 7 | self._raw_offset_np = offset.numpy() |
| 8 | self._raw_offset = offset.clone().detach().to(device).float() |
| 9 | self._kinematic_tree = kinematic_tree |
| 10 | self._offset = None |
| 11 | self._parents = [0] * len(self._raw_offset) |
| 12 | self._parents[0] = -1 |
| 13 | for chain in self._kinematic_tree: |
| 14 | for j in range(1, len(chain)): |
| 15 | self._parents[chain[j]] = chain[j-1] |
| 16 | |
| 17 | def njoints(self): |
| 18 | return len(self._raw_offset) |