Local pose
(positions)
| 66 | r_rot = None |
| 67 | |
| 68 | def get_rifke(positions): |
| 69 | '''Local pose''' |
| 70 | positions[..., 0] -= positions[:, 0:1, 0] |
| 71 | positions[..., 2] -= positions[:, 0:1, 2] |
| 72 | '''All pose face Z+''' |
| 73 | positions = qrot_np(np.repeat(r_rot[:, None], positions.shape[1], axis=1), positions) |
| 74 | return positions |
| 75 | |
| 76 | def get_quaternion(positions): |
| 77 | skel = Skeleton(n_raw_offsets, kinematic_chain, "cpu") |
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