import numpy as np

# Define a kinematic tree for the skeletal struture
kit_kinematic_chain = [
    [0, 11, 12, 13, 14, 15],
    [0, 16, 17, 18, 19, 20],
    [0, 1, 2, 3, 4],
    [3, 5, 6, 7],
    [3, 8, 9, 10],
]

kit_raw_offsets = np.array(
    [
        [0, 0, 0],
        [0, 1, 0],
        [0, 1, 0],
        [0, 1, 0],
        [0, 1, 0],
        [1, 0, 0],
        [0, -1, 0],
        [0, -1, 0],
        [-1, 0, 0],
        [0, -1, 0],
        [0, -1, 0],
        [1, 0, 0],
        [0, -1, 0],
        [0, -1, 0],
        [0, 0, 1],
        [0, 0, 1],
        [-1, 0, 0],
        [0, -1, 0],
        [0, -1, 0],
        [0, 0, 1],
        [0, 0, 1],
    ]
)

t2m_raw_offsets = np.array(
    [
        [0, 0, 0],
        [1, 0, 0],
        [-1, 0, 0],
        [0, 1, 0],
        [0, -1, 0],
        [0, -1, 0],
        [0, 1, 0],
        [0, -1, 0],
        [0, -1, 0],
        [0, 1, 0],
        [0, 0, 1],
        [0, 0, 1],
        [0, 1, 0],
        [1, 0, 0],
        [-1, 0, 0],
        [0, 0, 1],
        [0, -1, 0],
        [0, -1, 0],
        [0, -1, 0],
        [0, -1, 0],
        [0, -1, 0],
        [0, -1, 0],
    ]
)

t2m_kinematic_chain = [
    [0, 2, 5, 8, 11],
    [0, 1, 4, 7, 10],
    [0, 3, 6, 9, 12, 15],
    [9, 14, 17, 19, 21],
    [9, 13, 16, 18, 20],
]
t2m_left_hand_chain = [
    [20, 22, 23, 24],
    [20, 34, 35, 36],
    [20, 25, 26, 27],
    [20, 31, 32, 33],
    [20, 28, 29, 30],
]
t2m_right_hand_chain = [
    [21, 43, 44, 45],
    [21, 46, 47, 48],
    [21, 40, 41, 42],
    [21, 37, 38, 39],
    [21, 49, 50, 51],
]


kit_tgt_skel_id = "03950"

t2m_tgt_skel_id = "000021"