#NEWLINE# def __init__( self , parent_model = None , **kwargs ) : #NEWLINE# #INDENT# super ( Model , self ) . __init__ ( ** kwargs ) #NEWLINE# self . parent_model = parent_model #NEWLINE# self . version = kwargs . get ( 'version' , 0.0 ) #NEWLINE# self . submodels = [ ] #NEWLINE# self . links = [ ] #NEWLINE# self . joints = [ ] #NEWLINE# self . root_link = None #NEWLINE# if ( 'tree' in kwargs ) : #NEWLINE# #INDENT# self . from_tree ( kwargs [ 'tree' ] , ** kwargs ) #NEWLINE# #UNINDENT# else : #NEWLINE# #INDENT# if ( 'file' in kwargs ) : #NEWLINE# #INDENT# self . from_file ( kwargs [ 'file' ] , ** kwargs ) #NEWLINE# #UNINDENT# #UNINDENT# if ( not self . parent_model ) : #NEWLINE# #INDENT# self . root_link = self . find_root_link ( ) #NEWLINE# self . build_tree ( ) #NEWLINE# self . calculate_absolute_pose ( )