Module Import alias Import alias Import alias Import alias Import alias Import alias Import alias Import alias ImportFrom alias alias Import alias identifier ImportFrom alias identifier ImportFrom alias ImportFrom alias ImportFrom alias ImportFrom alias ImportFrom alias identifier ImportFrom alias ImportFrom alias ImportFrom alias ImportFrom alias ImportFrom alias ImportFrom alias ImportFrom alias ImportFrom alias ImportFrom alias ImportFrom alias ImportFrom alias ImportFrom alias Import alias identifier Import alias ImportFrom alias ImportFrom alias Import alias ImportFrom alias Import alias identifier Import alias identifier Import alias identifier ImportFrom alias Assign NameStore Str Assign NameStore Str Assign NameStore Str Assign NameStore Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore NameLoad FunctionDef arguments args defaults body Return BoolOpOr NameLoad Call AttributeLoad Call AttributeLoad NameLoad attr attr Str decorator_list FunctionDef arguments args defaults body Return Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Expr Call AttributeLoad Call AttributeLoad NameLoad attr attr NameLoad decorator_list FunctionDef arguments args defaults body Return Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Expr Str Global identifier Assign NameStore Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore BinOpSub Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore BinOpDiv NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad keyword NameLoad keyword Str Return Call NameLoad NameLoad Str ListLoad Num NameLoad decorator_list Expr Str FunctionDef arguments args NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults Str body Assign NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr If BoolOpOr UnaryOpNot Call NameLoad NameLoad Str UnaryOpNot AttributeLoad NameLoad attr body Assign AttributeStore NameLoad attr Call NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr attr Call AttributeLoad NameLoad attr decorator_list Assign NameStore NameLoad FunctionDef arguments args defaults body Assign NameStore Call NameLoad If UnaryOpNot NameLoad body Return Global identifier If CompareIs NameLoad NameLoad body Assign NameStore Call NameLoad Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad If UnaryOpNot NameLoad body Return Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr NameLoad decorator_list ClassDef bases AttributeLoad NameLoad attr body FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults body Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad NameLoad Call AttributeLoad NameLoad attr keyword NameLoad Expr Call AttributeLoad NameLoad attr Str NameLoad Expr Call AttributeLoad NameLoad attr Str NameLoad Expr Call AttributeLoad NameLoad attr Str Num keyword Call AttributeLoad NameLoad attr keyword ListLoad Str Str Str Str Str Expr Call AttributeLoad NameLoad attr Str Num keyword Call AttributeLoad NameLoad attr keyword Num keyword Num keyword Num keyword Num Expr Call AttributeLoad NameLoad attr Str Num keyword Call AttributeLoad NameLoad attr keyword Num keyword Num keyword Num keyword Num Assign AttributeStore NameLoad attr Call NameLoad Assign AttributeStore AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Str NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad NameLoad NameLoad If CompareEq NameLoad Str body If Call AttributeLoad NameLoad attr NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr orelse Expr Call AttributeLoad AttributeLoad NameLoad attr attr orelse If CompareIn NameLoad TupleLoad Str Str body Assign AttributeStore NameLoad attr Num decorator_list FunctionDef arguments args NameParam defaults body Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr AttributeLoad NameLoad attr If CompareEq NameLoad AttributeLoad NameLoad attr body Return If CompareLt NameLoad AttributeLoad NameLoad attr body Assign NameStore Num orelse If CompareLt BinOpSub NameLoad AttributeLoad NameLoad attr BinOpDiv Num Call AttributeLoad NameLoad attr Str body Return Assign NameStore Call NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr Str Assign NameStore Call NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr Str Assign NameStore Call NameLoad NameLoad keyword Call AttributeLoad NameLoad attr Str keyword Call AttributeLoad NameLoad attr Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr NameLoad If UnaryOpNot AttributeLoad NameLoad attr body Expr Call AttributeLoad NameLoad attr Str Str Assign AttributeStore NameLoad attr NameLoad decorator_list decorator_list FunctionDef arguments args NameParam NameParam defaults Num body Assign NameStore Call NameLoad NameLoad keyword NameLoad Return Call NameLoad NameLoad Str ListLoad Num Num decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Num Num body Expr Str Assign NameStore Num Assign NameStore SubscriptLoad Call AttributeLoad NameLoad attr NameLoad Str ExtSlice Slice Index Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad Num Expr Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr Str Assign NameStore Call NameLoad NameLoad Str ListLoad BinOpSub NameLoad BinOpDiv NameLoad Num BinOpAdd NameLoad BinOpDiv NameLoad Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword Str keyword NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword Num keyword ListLoad Num Num Num keyword ListLoad Num Num Num keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Str Assign NameStore Call NameLoad NameLoad Str ListLoad BinOpDiv UnaryOpUSub NameLoad Num BinOpDiv NameLoad Num Assign NameStore Call NameLoad NameLoad Str ListLoad NameLoad Num Return TupleLoad NameLoad NameLoad NameLoad NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr Str NameLoad Assign NameStore Call NameLoad AttributeLoad NameLoad attr Assign NameStore SubscriptLoad Call AttributeLoad NameLoad attr NameLoad Str ExtSlice Slice Index Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad Num Assign NameStore Call NameLoad NameLoad Str ListLoad BinOpSub NameLoad Num BinOpAdd NameLoad Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword Str keyword NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword Num keyword ListLoad Num Num Num keyword ListLoad Num Num Num keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Str Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Num Expr Call NameLoad NameLoad Str keyword Num decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults NameLoad NameLoad body Assign NameStore NameLoad Assign NameStore Num Assign NameStore Num If NameLoad body Assign NameStore Call NameLoad NameLoad keyword NameLoad If NameLoad body Assign TupleStore NameStore NameStore Call NameLoad NameLoad keyword Num keyword Num Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call NameLoad NameLoad Str keyword NameLoad keyword Str Assign TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad keyword NameLoad keyword NameLoad If CompareIsNot NameLoad NameLoad body Assign TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad keyword NameLoad keyword Call AttributeLoad NameLoad attr Num keyword NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad UnaryOpUSub NameLoad NameLoad Expr Call NameLoad NameLoad Str keyword NameLoad Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad keyword Num keyword Num Expr Call AttributeLoad NameLoad attr keyword Lambda arguments args NameParam defaults Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad Str attr Assign NameStore SubscriptLoad NameLoad Index Num Return TupleLoad NameLoad NameLoad Assign NameStore Num Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Str Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword Str Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad keyword Num keyword Num Assign NameStore SubscriptLoad NameLoad Slice Num For TupleStore NameStore NameStore Call NameLoad NameLoad body Expr Call NameLoad NameLoad BinOpMod Str NameLoad keyword Call NameLoad keyword NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign NameStore Num Assign NameStore Num Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad NameLoad keyword NameLoad keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Str keyword ListLoad Num Num Num keyword Call NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Str keyword Num keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Call AttributeLoad NameLoad attr Assign NameStore SubscriptLoad Call AttributeLoad NameLoad attr NameLoad Str ExtSlice Slice Index Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad If CompareLt NameLoad Num body Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num ListLoad Num Num Num Assign NameStore Call NameLoad NameLoad NameLoad Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults NameLoad body Assign NameStore Num Assign NameStore Num If NameLoad body Assign NameStore Call NameLoad NameLoad keyword NameLoad Assign NameStore ListLoad Assign NameStore Num While CompareLt Call NameLoad NameLoad Num body Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad If CompareGt Call AttributeLoad NameLoad attr NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore NameLoad orelse Break Return NameLoad decorator_list FunctionDef arguments args NameParam defaults NameLoad body If UnaryOpNot NameLoad body Assign NameStore Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr Str NameLoad Assign NameStore AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Str Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore Call AttributeLoad NameLoad attr Str NameLoad Assign NameStore Call AttributeLoad Call AttributeLoad Call AttributeLoad NameLoad attr attr attr Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad For TupleStore NameStore NameStore Call NameLoad NameLoad body Assign NameStore Call NameLoad NameLoad BinOpMod Str NameLoad keyword Call NameLoad keyword NameLoad keyword Str Expr Call AttributeLoad NameLoad attr Str Num decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad For TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad body Assign NameStore BinOpMult Call AttributeLoad NameLoad attr NameLoad BinOpDiv NameLoad Num Assign NameStore Call NameLoad NameLoad BinOpSub NameLoad NameLoad BinOpAdd NameLoad NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad For TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad body Assign NameStore BinOpDiv Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call NameLoad NameLoad BinOpAdd NameLoad BinOpMult NameLoad SubscriptLoad NameLoad Index Num BinOpAdd NameLoad BinOpMult NameLoad SubscriptLoad NameLoad Index Num Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore Call NameLoad NameLoad NameLoad Return Call NameLoad NameLoad Str ListLoad Num NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam NameParam NameParam defaults Num NameLoad NameLoad Num NameLoad NameLoad NameLoad body Assign NameStore IfExp CompareIsNot NameLoad NameLoad NameLoad ListLoad Num Num Num Assign NameStore NameLoad If CompareIsNot NameLoad NameLoad body Assert NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad If CompareIsNot NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr If CompareLt Call AttributeLoad NameLoad attr NameLoad NameLoad Num body Assign NameStore UnaryOpUSub NameLoad Assign NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Str If NameLoad body Return TupleLoad NameLoad NameLoad NameLoad orelse Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str AugAssignMult SubscriptStore NameLoad Index CompareGt Call AttributeLoad NameLoad attr NameLoad NameLoad Num Num decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults NameLoad Num NameLoad Num body Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad If NameLoad body Expr Call AttributeLoad NameLoad attr Num NameLoad orelse If NameLoad body Expr Call AttributeLoad NameLoad attr Num Call NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Expr Call AttributeLoad Call AttributeLoad NameLoad attr attr Call AttributeLoad Call AttributeLoad NameLoad attr attr Str Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Expr Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad SubscriptLoad NameLoad ExtSlice Slice Index Num attr Str Expr Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad SubscriptLoad NameLoad ExtSlice Slice Index Num attr Str Expr Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad SubscriptLoad NameLoad ExtSlice Slice Index Num attr Str Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call NameLoad NameLoad NameLoad keyword NameLoad keyword Str Assign NameStore Call NameLoad NameLoad NameLoad keyword NameLoad keyword Str Assign NameStore Call NameLoad NameLoad NameLoad keyword NameLoad keyword Str Return NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Str Return Call NameLoad Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call AttributeLoad NameLoad attr Str If UnaryOpNot NameLoad body Return NameLoad Assign NameStore AttributeLoad NameLoad attr If BoolOpOr UnaryOpNot NameLoad UnaryOpNot Call AttributeLoad NameLoad attr body Return NameLoad If NameLoad body Assign NameStore Call NameLoad NameLoad keyword Num Return Call NameLoad NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr If BoolOpOr UnaryOpNot NameLoad UnaryOpNot Call AttributeLoad NameLoad attr body Return Call NameLoad If NameLoad body Assign NameStore Call NameLoad NameLoad keyword Num Return Call NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults Num NameLoad Num Str Str body Assign NameStore Call AttributeLoad NameLoad attr NameLoad keyword NameLoad keyword NameLoad keyword NameLoad If UnaryOpNot NameLoad body Return NameLoad If NameLoad body Assign NameStore BinOpDiv BinOpMult Num Num BinOpMult NameLoad NameLoad Assign NameStore Call NameLoad NameLoad keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Return NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore NameLoad If BoolOpAnd NameLoad Call AttributeLoad NameLoad attr Str body Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr If BoolOpOr UnaryOpNot NameLoad UnaryOpNot Call AttributeLoad NameLoad attr body Return NameLoad Return Call NameLoad NameLoad decorator_list Assign NameStore NameLoad FunctionDef arguments args defaults body Assign NameStore ListLoad For NameStore Call AttributeLoad NameLoad attr body Assign NameStore Call AttributeLoad NameLoad attr Str If Call AttributeLoad NameLoad attr Str body Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad keyword Lambda arguments args NameParam defaults Call AttributeLoad NameLoad attr Str Assign NameStore Call NameLoad Assign NameStore NameLoad For NameStore NameLoad body Assign NameStore Call AttributeLoad NameLoad attr Str Print BinOpMod Str NameLoad Print Str AttributeLoad NameLoad attr Assign TupleStore NameStore NameStore NameStore NameStore Call NameLoad AttributeLoad NameLoad attr Print Str NameLoad Expr Call NameLoad NameLoad BinOpAdd NameLoad Str keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr BinOpDiv Call AttributeLoad NameLoad attr NameLoad NameLoad BinOpMult Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad If CompareGt NameLoad Num body Print BinOpSub Num NameLoad orelse Print NameLoad If CompareIsNot NameLoad NameLoad body Assign NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr BinOpDiv Call AttributeLoad NameLoad attr NameLoad NameLoad BinOpMult Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad If CompareGt NameLoad Num body Print BinOpSub Num NameLoad orelse Print NameLoad Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr ListLoad Num Num Num NameLoad Expr Call NameLoad Call AttributeLoad NameLoad attr Str decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Num NameLoad body Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad If CompareIsNot NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Str ListLoad Num Num Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults Num body Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Str ListLoad Num Num Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Num Num body Expr Str Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign NameStore ListLoad Num Num NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Str Assign NameStore Call NameLoad NameLoad Str ListLoad BinOpDiv UnaryOpUSub NameLoad Num BinOpDiv NameLoad Num Assign NameStore Call NameLoad NameLoad Str ListLoad NameLoad Num Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Num Num body Assign TupleStore NameStore NameStore NameStore NameStore Call NameLoad NameLoad NameLoad NameLoad Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assert NameLoad Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index Str Assign SubscriptStore NameLoad Index Num Num Assign NameStore UnaryOpUSub SubscriptLoad NameLoad Index Str Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Num Assign NameStore Num Assign NameStore ListLoad Num Num Num Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad NameLoad NameLoad NameLoad Expr Call NameLoad NameLoad Str keyword NameLoad keyword Num keyword NameLoad Expr Call NameLoad NameLoad Str keyword NameLoad keyword Num Expr Call NameLoad NameLoad Str keyword NameLoad keyword Num decorator_list FunctionDef arguments args defaults body Assign NameStore Call AttributeLoad NameLoad attr Str If UnaryOpNot NameLoad body Return Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index Str Assign NameStore BinOpSub BinOpAdd NameLoad BinOpDiv BinOpMult SubscriptLoad NameLoad Index Str SubscriptLoad NameLoad Index Str Num BinOpDiv BinOpMult SubscriptLoad NameLoad Index Str SubscriptLoad NameLoad Index Str Num Assign SubscriptStore NameLoad Index Num Num Assign NameStore SubscriptLoad NameLoad Index Str Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Num Assign NameStore Num Assign NameStore ListLoad Num Num Num Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad NameLoad NameLoad NameLoad Expr Call NameLoad NameLoad Str keyword NameLoad keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword Num Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword Num For NameStore ListLoad NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args defaults body Assign NameStore Call AttributeLoad NameLoad attr Str If UnaryOpNot NameLoad body Return Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index Str Assign SubscriptStore NameLoad Index Num Num Assign NameStore SubscriptLoad NameLoad Index Str Assign NameStore UnaryOpUSub SubscriptLoad NameLoad Index Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Num Assign NameStore Num Assign NameStore ListLoad Num Num Num Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad NameLoad NameLoad NameLoad Expr Call NameLoad NameLoad Str keyword NameLoad keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword Num Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword Num For NameStore ListLoad NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults body Assign NameStore Num Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Num BinOpDiv NameLoad Num NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Num BinOpDiv UnaryOpUSub NameLoad Num NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Return TupleLoad NameLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Assign TupleStore AttributeStore NameLoad attr AttributeStore NameLoad attr AttributeStore NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Num Expr Call AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Assign TupleStore AttributeStore NameLoad attr AttributeStore NameLoad attr AttributeStore NameLoad attr AttributeStore NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults body Assign NameStore Call NameLoad NameLoad Assign NameStore BinOpDiv NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Str Assign NameStore Call NameLoad NameLoad Str NameLoad Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore BinOpAdd BinOpDiv Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr Num Num Assign NameStore ListLoad UnaryOpUSub NameLoad NameLoad If CompareGt SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num body Assign TupleStore NameStore NameStore TupleLoad NameLoad NameLoad Assign TupleStore NameStore NameStore Call NameLoad Call AttributeLoad NameLoad attr NameLoad Assign TupleStore NameStore NameStore Call NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad Call AttributeLoad Call AttributeLoad NameLoad attr attr attr Assign NameStore BinOpSub NameLoad NameLoad Assign NameStore BinOpSub NameLoad NameLoad Assign NameStore BinOpDiv BinOpAdd NameLoad NameLoad Num Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad BinOpAdd NameLoad NameLoad Expr Call NameLoad Call AttributeLoad NameLoad attr Str keyword Call NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr Str If NameLoad body Assign NameStore Call NameLoad AttributeLoad NameLoad attr orelse Assign NameStore Call NameLoad Assign NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad NameLoad NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword Str keyword ListLoad Num Num keyword NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword Str keyword NameLoad Assign TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad NameLoad ListLoad Num Num Assign TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad NameLoad ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword Str keyword NameLoad Assign TupleStore NameStore NameStore Call NameLoad NameLoad keyword Num keyword NameLoad keyword Call AttributeLoad NameLoad attr Num Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword Call NameLoad keyword NameLoad Expr Str Assign NameStore Str Expr Call NameLoad NameLoad NameLoad keyword UnaryOpUSub NameLoad keyword NameLoad keyword Num keyword NameLoad decorator_list FunctionDef arguments args NameParam defaults NameLoad body For NameStore Call AttributeLoad NameLoad attr body If Call NameLoad NameLoad NameLoad body If CompareIn Str Call AttributeLoad NameLoad attr Str body Expr Call AttributeLoad NameLoad attr NameLoad For NameStore Call AttributeLoad NameLoad attr body If Call NameLoad NameLoad NameLoad body Expr Call NameLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults NameLoad body Expr Call AttributeLoad NameLoad attr Assign NameStore BinOpAdd Call AttributeLoad NameLoad attr Str Str Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore ListLoad SubscriptLoad AttributeLoad NameLoad attr Index Str SubscriptLoad AttributeLoad NameLoad attr Index Str If CompareIs NameLoad NameLoad body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore Call NameLoad AttributeLoad NameLoad attr Assign NameStore Num Assign NameStore NameLoad Assign TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad NameLoad ListLoad UnaryOpUSub NameLoad NameLoad Assign TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad NameLoad ListLoad UnaryOpUSub NameLoad NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Assign TupleStore NameStore NameStore Call NameLoad NameLoad keyword Num keyword NameLoad keyword Call AttributeLoad NameLoad attr Num Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad NameLoad keyword NameLoad keyword NameLoad keyword Num keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore BinOpAdd NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore BinOpSub NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num Assign NameStore BinOpSub NameLoad NameLoad Assign SubscriptStore AttributeLoad NameLoad attr Index Str NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr Expr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults body Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr attr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad Call AttributeLoad Call NameLoad attr attr Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad NameLoad BinOpMult NameLoad Num Assign NameStore Call NameLoad NameLoad keyword Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad Str keyword Num Assign NameStore NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Num Assign NameStore NameLoad Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr ListLoad Num Num BinOpDiv UnaryOpUSub NameLoad Num Call AttributeLoad NameLoad attr ListLoad Num Num BinOpDiv NameLoad Num keyword NameLoad Assign NameStore Str Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr NameLoad keyword NameLoad keyword Str keyword ListLoad Num Num Num Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword Str keyword Str Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr BinOpAdd NameLoad Str keyword NameLoad keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign NameStore Call NameLoad NameLoad NameLoad keyword Num Assign NameStore Call NameLoad NameLoad keyword Num Assign NameStore Call NameLoad NameLoad NameLoad BinOpAdd Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword ListLoad Num Num Num keyword NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword Num keyword NameLoad keyword Call AttributeLoad NameLoad attr Num keyword UnaryOpUSub NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword Str keyword NameLoad Assign NameStore Call NameLoad NameLoad keyword Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword ListLoad Num Num Num keyword NameLoad Assign TupleStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad keyword Num Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword ListLoad Num Num Num keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad SubscriptLoad NameLoad ExtSlice Slice Index Num attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Num Assign NameStore BinOpSub Call NameLoad BinOpDiv BinOpSub NameLoad NameLoad Num NameLoad Assign NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore ListLoad Num Num Num Assign NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad keyword Str keyword Str keyword Call NameLoad keyword NameLoad keyword ListLoad Num Num Num keyword NameLoad keyword Num Assign SubscriptStore NameLoad Index Str NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign AttributeStore NameLoad attr Call NameLoad keyword NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Num Assign NameStore Call NameLoad NameLoad BinOpAdd NameLoad ListLoad Num Num BinOpDiv NameLoad Num BinOpSub NameLoad ListLoad Num Num BinOpDiv NameLoad Num Assign TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad keyword Num keyword Num keyword NameLoad Expr Call NameLoad NameLoad Str keyword NameLoad keyword ListLoad Num Num Num Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr If CompareGt Call AttributeLoad NameLoad attr NameLoad NameLoad Num body Assign NameStore UnaryOpUSub NameLoad Assign NameStore Call NameLoad NameLoad Assign NameStore SubscriptLoad Call AttributeLoad NameLoad attr Index Num Assign NameStore ListLoad SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num NameLoad Assign NameStore UnaryOpUSub NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign NameStore BinOpSub Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad If CompareLt Call AttributeLoad NameLoad attr NameLoad NameLoad Num body Assign NameStore UnaryOpUSub NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore BinOpDiv BinOpAdd Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad Num Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword Str keyword NameLoad Assign NameStore Call NameLoad NameLoad NameLoad keyword Num Assign NameStore Call NameLoad NameLoad keyword Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword ListLoad Num Num Num keyword NameLoad Assign NameStore Call NameLoad NameLoad keyword Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword ListLoad Num Num Num keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad SubscriptLoad NameLoad ExtSlice Slice Index Num attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Num Assign NameStore BinOpSub Call NameLoad BinOpDiv BinOpSub NameLoad NameLoad Num NameLoad Assign NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr Expr Call AttributeLoad NameLoad attr Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr Str keyword NameLoad Expr Str Assign NameStore BinOpSub BinOpDiv Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Num NameLoad Assign NameStore ListComp Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad comprehension NameStore AttributeLoad NameLoad attr Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Call AttributeLoad NameLoad attr NameLoad If CompareLt Call AttributeLoad NameLoad attr NameLoad NameLoad Num body Assign NameStore UnaryOpUSub NameLoad Assign NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad keyword Str keyword Str keyword Call NameLoad keyword NameLoad keyword ListLoad Num Num Num keyword Call NameLoad NameLoad keyword Num Assign SubscriptStore NameLoad Index Str NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign AttributeStore NameLoad attr Call NameLoad keyword NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore BinOpDiv BinOpAdd NameLoad NameLoad Num Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign TupleStore NameStore NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword UnaryOpUSub NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad NameLoad Assign TupleStore NameStore NameStore TupleLoad BinOpAdd NameLoad BinOpDiv NameLoad Num BinOpSub NameLoad BinOpDiv NameLoad Num Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call NameLoad Call AttributeLoad NameLoad attr Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword ListLoad Num Num Num keyword NameLoad Assign NameStore Call NameLoad NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword ListLoad Num Num Num keyword NameLoad Assign NameStore Call NameLoad NameLoad keyword Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword ListLoad Num Num Num keyword NameLoad Assign NameStore IfExp NameLoad ListLoad BinOpSub NameLoad Num BinOpAdd NameLoad Num NameLoad Assign TupleStore NameStore NameStore Call NameLoad NameLoad keyword Num keyword NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore BinOpDiv NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad If CompareLt Call AttributeLoad NameLoad attr NameLoad NameLoad Num body AugAssignMult NameStore Num Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr BinOpSub NameLoad BinOpMult NameLoad NameLoad BinOpAdd NameLoad BinOpMult NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Expr Call NameLoad Call AttributeLoad NameLoad attr Str keyword Call NameLoad keyword NameLoad Assign NameStore UnaryOpUSub NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call NameLoad NameLoad UnaryOpUSub NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad If CompareEq Num Num body Assign NameStore Call NameLoad NameLoad NameLoad ListLoad BinOpAdd NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num BinOpSub NameLoad Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call NameLoad NameLoad orelse Assign NameStore Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num ListLoad Num Num NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore NameLoad Assign NameStore Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad keyword Str keyword Str keyword Call NameLoad keyword NameLoad keyword ListLoad Num Num Num keyword Call NameLoad NameLoad keyword Num Assign SubscriptStore NameLoad Index Str NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign AttributeStore NameLoad attr Call NameLoad keyword NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Num body Import alias identifier Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign TupleStore NameStore NameStore Call AttributeLoad NameLoad attr NameLoad keyword NameLoad Assign NameStore BinOpMult Num BinOpSub SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Assign NameStore BinOpDiv BinOpAdd SubscriptLoad NameLoad Slice Num SubscriptLoad NameLoad Slice Num Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad keyword Str keyword NameLoad Expr Call AttributeLoad NameLoad attr Return BinOpAdd SubscriptLoad NameLoad Index Call AttributeLoad NameLoad attr NameLoad BinOpDiv BinOpSub SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Num decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore Call NameLoad keyword Str keyword Str keyword ListLoad Num Num Num keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Str keyword NameLoad keyword ListLoad Num Num Num keyword NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults NameLoad body Import alias Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad NameLoad attr If NameLoad body Expr Call AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad Assign TupleStore NameStore NameStore Call AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad NameLoad If BoolOpAnd CompareEq NameLoad Str CompareEq NameLoad Num body Assign NameStore SubscriptLoad NameLoad Index Num Assign NameStore SubscriptLoad NameLoad Index Num AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad Print Str Call AttributeLoad NameLoad attr NameLoad Assign TupleStore NameStore NameStore Call AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad BinOpMod Str NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr SubscriptLoad NameLoad ExtSlice Slice Index Num SubscriptLoad NameLoad ExtSlice Slice Index Num Assign NameStore SubscriptLoad Call AttributeLoad NameLoad attr CompareLt NameLoad Num Index Num AugAssignAdd SubscriptStore NameLoad Index NameLoad Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad Num Assign NameStore Call NameLoad Num Num Num Assign TupleStore NameStore NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpAdd SubscriptLoad NameLoad Index NameLoad Num Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults NameLoad body Expr Str Assign TupleStore NameStore NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword UnaryOpUSub NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad keyword Num Assign NameStore Call NameLoad NameLoad keyword Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore SubscriptLoad Call AttributeLoad NameLoad attr NameLoad Str ExtSlice Slice Index Num Assign NameStore SubscriptLoad Call AttributeLoad NameLoad attr NameLoad Str ExtSlice Slice Index Num Assign NameStore BinOpDiv BinOpAdd Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad Num Assign NameStore BinOpDiv BinOpAdd Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad Num Assign NameStore BinOpAdd Call AttributeLoad Call AttributeLoad NameLoad attr attr Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad NameLoad NameLoad NameLoad Assign NameStore UnaryOpUSub NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Num Str NameLoad body Expr Str Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call NameLoad Call AttributeLoad NameLoad attr Str keyword Call NameLoad keyword NameLoad If CompareEq NameLoad Str body Expr Call NameLoad NameLoad NameLoad NameLoad orelse If CompareEq NameLoad Str body Expr Call NameLoad NameLoad NameLoad orelse If CompareEq NameLoad Str body Expr Call NameLoad NameLoad NameLoad NameLoad Expr Call NameLoad NameLoad NameLoad orelse Raise Call NameLoad BinOpAdd Str NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign NameStore BinOpDiv BinOpAdd NameLoad NameLoad Num Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword UnaryOpUSub NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad UnaryOpUSub NameLoad Assign TupleStore NameStore NameStore TupleLoad BinOpAdd NameLoad BinOpDiv NameLoad Num BinOpSub NameLoad BinOpDiv NameLoad Num Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call NameLoad Call AttributeLoad NameLoad attr Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword ListLoad Num Num Num keyword NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword Num Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call NameLoad Call AttributeLoad NameLoad attr Str keyword Call NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore UnaryOpUSub NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr BinOpPow BinOpSub NameLoad Call NameLoad NameLoad NameLoad NameLoad Num Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr BinOpPow BinOpSub NameLoad Call NameLoad NameLoad NameLoad NameLoad Num If CompareLt NameLoad NameLoad body Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore UnaryOpUSub NameLoad Assign NameStore UnaryOpUSub NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore UnaryOpUSub Call NameLoad NameLoad ListLoad Num Num Num UnaryOpUSub NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num ListLoad Num Num Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call NameLoad Call AttributeLoad NameLoad attr Str keyword ListLoad Num Num Num keyword Call NameLoad keyword NameLoad Assign NameStore Num Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr BinOpPow BinOpSub NameLoad NameLoad Num Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr ListLoad Num Num Num ListLoad NameLoad Num Num keyword NameLoad Expr Call AttributeLoad NameLoad attr ListLoad Num Num Num Num Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword Str keyword ListLoad Num Num Num keyword NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Str Assign NameStore Call NameLoad keyword Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr keyword NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword Num keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad Call AttributeLoad NameLoad attr attr Expr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults NameLoad body Assign NameStore Num Assign NameStore Num Assign NameStore Num Assign NameStore Num If NameLoad body Assign NameStore NameLoad Assign NameStore Call NameLoad NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad keyword NameLoad keyword Num Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad orelse Assign NameStore NameLoad Assert Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Num Expr Call AttributeLoad NameLoad attr Num Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Num Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Return Call NameLoad Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults NameLoad Num Num Num body If NameLoad body Assign NameStore Call NameLoad NameLoad keyword Num Assign NameStore Call NameLoad NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Str Expr Call NameLoad NameLoad Call AttributeLoad Call AttributeLoad NameLoad attr attr Assert Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Return Call NameLoad Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad Call AttributeLoad Call NameLoad attr attr Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Num Assign NameStore Num Assign NameStore UnaryOpUSub NameLoad Assign NameStore NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad NameLoad Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr ListLoad Num Num Num ListLoad NameLoad Num Num keyword NameLoad Expr Call AttributeLoad NameLoad attr ListLoad Num Num Num Num Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword Str keyword ListLoad Num Num Num keyword NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Str Assign NameStore Call NameLoad keyword Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr keyword NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword Num keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad Call AttributeLoad Call NameLoad attr attr Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr Str Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore UnaryOpUSub NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr UnaryOpUSub NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call NameLoad Call AttributeLoad NameLoad attr Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword ListLoad Num Num Num keyword NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad keyword Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr keyword NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword Num keyword Str keyword Str Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad Call AttributeLoad Call NameLoad attr attr Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore UnaryOpUSub NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Num Assign NameStore Num Assign NameStore Num Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Str Assign NameStore Call NameLoad NameLoad NameLoad keyword NameLoad keyword Str Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr BinOpAdd NameLoad Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore BinOpSub NameLoad NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Num Assign NameStore Call NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore BinOpMult UnaryOpUSub Call AttributeLoad NameLoad attr ListLoad Num Num Num NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore BinOpDiv NameLoad NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Num Assign NameStore NameLoad Assign NameStore Num Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Str Assign NameStore Str Assign NameStore Call NameLoad NameLoad NameLoad keyword NameLoad keyword Str Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad keyword Call AttributeLoad NameLoad attr keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr BinOpAdd NameLoad Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad NameLoad Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore ListLoad Num Num Num Assign NameStore ListLoad Num Num Num Assign NameStore NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Num Assign NameStore Num Assign NameStore Num Assign NameStore Num Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr ListLoad Num Num BinOpDiv UnaryOpUSub NameLoad Num Call AttributeLoad NameLoad attr ListLoad Num Num BinOpDiv NameLoad Num keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr ListLoad Num Num BinOpDiv NameLoad Num Call AttributeLoad NameLoad attr ListLoad Num Num BinOpAdd BinOpDiv NameLoad Num NameLoad keyword NameLoad Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Str keyword NameLoad keyword ListLoad Num Num Num keyword NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword Num keyword Str keyword Str Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore ListLoad NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad Call AttributeLoad Call NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad BinOpSub NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad If CompareLt Call AttributeLoad NameLoad attr NameLoad NameLoad Num body AugAssignMult NameStore Num Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword BinOpDiv BinOpAdd BinOpAdd NameLoad NameLoad NameLoad Num keyword Num keyword Num keyword NameLoad Assign NameStore ListComp Call NameLoad NameLoad NameLoad NameLoad comprehension NameStore NameLoad Assign NameStore UnaryOpUSub NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index Num Assign NameStore Call NameLoad Assign NameStore ListLoad For NameStore NameLoad body Assign NameStore Call AttributeLoad NameLoad attr Num Expr Call AttributeLoad Call AttributeLoad NameLoad attr attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num For TupleStore NameStore NameStore Call NameLoad NameLoad BinOpAdd SubscriptLoad NameLoad Slice Num ListLoad SubscriptLoad NameLoad Index Num body Expr Call AttributeLoad NameLoad attr NameLoad NameLoad keyword Num Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Str keyword NameLoad keyword ListLoad Num Num Num keyword NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad keyword SubscriptLoad NameLoad Index Num keyword NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword Num keyword SubscriptLoad SubscriptLoad NameLoad Index Num Index Num keyword SubscriptLoad SubscriptLoad NameLoad Index Num Index Num keyword SubscriptLoad SubscriptLoad NameLoad Index Num Index Num keyword SubscriptLoad SubscriptLoad NameLoad Index Num Index Num keyword SubscriptLoad SubscriptLoad NameLoad Index Num Index Num keyword SubscriptLoad SubscriptLoad NameLoad Index Num Index Num keyword Str keyword Str Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr decorator_list Assign NameStore ListLoad FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad Call AttributeLoad Call NameLoad attr attr Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad For NameStore NameLoad body Expr Call NameLoad NameLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults body Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign SubscriptStore NameLoad Index Num SubscriptLoad NameLoad Index Num Assign NameStore UnaryOpUSub NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr attr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad SubscriptLoad Call AttributeLoad NameLoad attr Index Str Return BinOpSub SubscriptLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Index Num Num decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call NameLoad SubscriptLoad Call AttributeLoad NameLoad attr Index Str decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad Call AttributeLoad Call NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad ListLoad Num Num Num AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad If CompareLt Call AttributeLoad NameLoad attr NameLoad NameLoad Num body AugAssignMult NameStore Num Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore UnaryOpUSub NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call NameLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Assign TupleStore NameStore NameStore NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpMult Call AttributeLoad NameLoad attr ListLoad Num Num Num Num Assign NameStore BinOpMult Call AttributeLoad NameLoad attr ListLoad Num Num Num Num Assign NameStore Call AttributeLoad NameLoad attr TupleLoad Num Num If CompareEq NameLoad NameLoad body Assign SubscriptStore NameLoad Index Num NameLoad Assign SubscriptStore NameLoad Index Num NameLoad orelse If CompareEq NameLoad NameLoad body Assign SubscriptStore NameLoad Index Num NameLoad Assign SubscriptStore NameLoad Index Num UnaryOpUSub NameLoad orelse If CompareEq NameLoad NameLoad body Assign SubscriptStore NameLoad Index Num NameLoad Assign SubscriptStore NameLoad Index Num UnaryOpUSub NameLoad orelse If CompareEq NameLoad NameLoad body Assign SubscriptStore NameLoad Index Num NameLoad Assign SubscriptStore NameLoad Index Num BinOpSub NameLoad NameLoad orelse Raise Call NameLoad Str UnaryOpUAdd NameLoad Assign NameStore BinOpDiv Call AttributeLoad NameLoad attr keyword Num Num Assign NameStore Num Assign NameStore BinOpAdd BinOpMult BinOpSub NameLoad NameLoad NameLoad NameLoad Assign NameStore Call NameLoad For NameStore NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad keyword Num For TupleStore NameStore NameStore Call NameLoad NameLoad Call AttributeLoad NameLoad attr TupleLoad SubscriptLoad NameLoad Slice Num SubscriptLoad NameLoad Index Num body Expr Call AttributeLoad NameLoad attr NameLoad NameLoad keyword Num For TupleStore NameStore NameStore Call NameLoad NameLoad Call AttributeLoad NameLoad attr TupleLoad SubscriptLoad NameLoad Slice Num SubscriptLoad NameLoad Index Num body Expr Call AttributeLoad NameLoad attr NameLoad NameLoad keyword Num Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Str keyword NameLoad keyword ListLoad Num Num Num keyword NameLoad keyword NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword Num keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword Num keyword SubscriptLoad SubscriptLoad NameLoad Index Num Index Num keyword SubscriptLoad SubscriptLoad NameLoad Index Num Index Num keyword SubscriptLoad SubscriptLoad NameLoad Index Num Index Num keyword SubscriptLoad SubscriptLoad NameLoad Index Num Index Num keyword SubscriptLoad SubscriptLoad NameLoad Index Num Index Num keyword SubscriptLoad SubscriptLoad NameLoad Index Num Index Num keyword Str keyword Str Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Str decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults Str body If CompareEq NameLoad Str body Assign NameStore Call NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Str keyword Str orelse Assign NameStore Call NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Str keyword Str Return NameLoad decorator_list FunctionDef arguments args NameParam defaults NameLoad body Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr Str If NameLoad body Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Num Num Num Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num keyword ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr ListLoad Num Num Num ListLoad Num Num Num keyword Num keyword ListLoad Num Num Num Return Call NameLoad Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args defaults body Return Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr Str keyword NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad Call AttributeLoad Call NameLoad attr attr Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad NameLoad Num Assign NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore NameLoad Assign NameStore BinOpSub NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr UnaryOpUSub NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call NameLoad NameLoad If UnaryOpNot Call AttributeLoad NameLoad attr body Return NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListComp Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad comprehension NameStore NameLoad Assign NameStore ListComp BinOpDiv NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad comprehension NameStore NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore ListComp Call AttributeLoad NameLoad attr NameLoad NameLoad comprehension NameStore NameLoad Assign NameStore ListComp SubscriptLoad NameLoad Index NameLoad comprehension NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore ListComp SubscriptLoad NameLoad Index NameLoad comprehension NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad Assign NameStore Call NameLoad SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad Call AttributeLoad NameLoad attr Return Call NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults NameLoad body Expr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore NameLoad If CompareIs NameLoad NameLoad body Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListComp Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad comprehension NameStore NameLoad Assign NameStore ListComp BinOpDiv NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad comprehension NameStore NameLoad Assign NameStore Call NameLoad NameLoad Assign NameStore Call NameLoad SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr If NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad orelse Assign NameStore Call AttributeLoad NameLoad attr NameLoad BinOpAdd Call AttributeLoad NameLoad attr Str Str keyword NameLoad keyword Num keyword NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Num Assign NameStore Call NameLoad NameLoad keyword Num Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword Num keyword NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad keyword Num keyword Num Expr Call AttributeLoad NameLoad attr keyword Lambda arguments args NameParam defaults Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad Str attr Assign NameStore SubscriptLoad NameLoad Index Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Return TupleLoad NameLoad NameLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore ListLoad For NameStore NameLoad body If CompareLt Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index Num ListLoad Num Num Num Num body Continue If CompareLt SubscriptLoad AttributeLoad NameLoad attr Index Num Num body Continue Expr Call AttributeLoad NameLoad attr NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults NameLoad body Assign TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad Assign NameStore ListComp Call NameLoad NameLoad comprehension NameStore NameLoad Assign NameStore ListComp NameLoad comprehension NameStore NameLoad CompareIsNot NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr For NameStore NameLoad body Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore SubscriptLoad NameLoad Index Num Assign NameStore SubscriptLoad NameLoad Index Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr Expr Call AttributeLoad NameLoad attr keyword NameLoad If NameLoad body Assign NameStore Call NameLoad NameLoad Return Call NameLoad keyword NameLoad keyword NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults NameLoad body Expr Str Assign TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr Num Expr Call NameLoad AttributeLoad NameLoad attr Str keyword NameLoad keyword Call NameLoad keyword Num Expr Call NameLoad NameLoad Str keyword ListLoad Num Num Num keyword NameLoad keyword Call NameLoad Assign NameStore Call NameLoad NameLoad NameLoad keyword Num keyword Num For TupleStore NameStore NameStore Call NameLoad NameLoad body Assign NameStore BinOpMod Str NameLoad Expr Call NameLoad NameLoad NameLoad keyword Call NameLoad keyword NameLoad keyword Call NameLoad Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign TupleStore NameStore NameStore NameStore NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign NameStore BinOpDiv BinOpMult Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Num AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr ListLoad Num Num NameLoad Assign TupleStore NameStore NameStore NameStore NameStore Call NameLoad NameLoad NameLoad Assign NameStore Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore ListLoad BinOpDiv 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FunctionDef arguments args NameParam NameParam defaults NameLoad body If CompareIs NameLoad NameLoad body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Expr Call AttributeLoad NameLoad attr keyword Lambda arguments args NameParam defaults Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad Str attr Assign NameStore SubscriptLoad NameLoad Index Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad NameLoad Num Assign NameStore Call NameLoad NameLoad keyword Num Assign NameStore Call NameLoad NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore NameLoad Assign NameStore BinOpSub SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad NameLoad UnaryOpUSub NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr UnaryOpUSub NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index Num Assign NameStore Call NameLoad Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad keyword Num attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr ListLoad Num Num Num keyword Num Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Str keyword ListLoad Num Num Num keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad ListLoad Num Num Num Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr Str keyword NameLoad keyword Num keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr ListLoad Num Num Num keyword Num Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Str keyword ListLoad Num Num Num keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad ListLoad Num Num Num Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr Str keyword NameLoad keyword Num keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults NameLoad ListLoad Num Num ListLoad Num Num body Assign NameStore NameLoad Assign NameStore BoolOpOr NameLoad Call NameLoad Assign TupleStore NameStore NameStore Call NameLoad NameLoad keyword Num keyword Num Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad keyword Num keyword Num Assign NameStore ListLoad For TupleStore NameStore NameStore Call NameLoad NameLoad body Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad Assign NameStore ListComp Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad comprehension NameStore SubscriptLoad NameLoad Slice Num Assign NameStore BoolOpAnd CompareLtELt SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num CompareLtELt SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num If UnaryOpNot NameLoad body Expr Call NameLoad NameLoad BinOpMod Str NameLoad keyword ListLoad Num Num Num keyword Call NameLoad keyword NameLoad Continue Expr Call NameLoad NameLoad BinOpMod Str NameLoad keyword ListLoad Num Num Num keyword Call NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr NameLoad If UnaryOpNot NameLoad body Return NameLoad Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore ListComp Call AttributeLoad AttributeLoad NameLoad attr attr BinOpSub NameLoad Call NameLoad NameLoad comprehension NameStore NameLoad Assign NameStore ListComp SubscriptLoad NameLoad Index NameLoad comprehension NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore SubscriptLoad NameLoad Index Num Assign NameStore Call NameLoad NameLoad Return SubscriptLoad Call AttributeLoad NameLoad attr ListLoad NameLoad keyword Str Index Num decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam NameParam NameParam defaults NameLoad Num Num Num Num ListLoad Num Num NameLoad body Expr Str Assign NameStore ListLoad Num Num Assign NameStore Num Assign NameStore NameLoad If NameLoad body Assign TupleStore NameStore NameStore Call NameLoad NameLoad keyword Num keyword Num Assign NameStore Call NameLoad NameLoad Str NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad orelse Assign NameStore NameLoad If UnaryOpNot Call AttributeLoad NameLoad attr body Return Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Num Call NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Str Assign NameStore Call NameLoad NameLoad Str NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword Str keyword NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword Str keyword NameLoad Assign NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad Assign NameStore ListLoad Assign NameStore ListLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Str Assign NameStore Call AttributeLoad NameLoad attr Str keyword Call NameLoad For TupleStore NameStore NameStore Call NameLoad NameLoad body Expr Call NameLoad NameLoad BinOpMod Str NameLoad keyword NameLoad keyword Call NameLoad keyword NameLoad Assign TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad UnaryOpUSub NameLoad NameLoad If CompareGt Call AttributeLoad NameLoad attr NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad If CompareIsNot NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Str keyword Call NameLoad If NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad keyword NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign TupleStore NameStore NameStore Call NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num If UnaryOpNot Call AttributeLoad NameLoad attr body Return Assign NameStore Call NameLoad NameLoad keyword Num Assign NameStore Call NameLoad NameLoad keyword Num keyword Num FunctionDef arguments args NameParam NameParam defaults body Assign NameStore ListLoad Num Num Num Assign NameStore Num Assign NameStore Num Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr BinOpDiv Call AttributeLoad NameLoad attr NameLoad NameLoad BinOpMult Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad If CompareGt NameLoad Num body Return NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad Assign NameStore ListComp Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad comprehension NameStore NameLoad If CompareLt SubscriptLoad NameLoad Index Num NameLoad body Return NameLoad Assign NameStore Call AttributeLoad SubscriptLoad Call AttributeLoad NameLoad attr NameLoad Str ExtSlice Slice Index Num attr Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad BinOpDiv BinOpAdd NameLoad NameLoad Num NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad Assign NameStore ListComp Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad comprehension NameStore NameLoad If BoolOpOr CompareGt SubscriptLoad NameLoad Index Num NameLoad CompareGt SubscriptLoad NameLoad Index Num NameLoad body Return NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpDiv BinOpAdd NameLoad NameLoad Num Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr BinOpSub NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad keyword Str keyword BinOpMod Str NameLoad keyword Call NameLoad keyword NameLoad keyword Num keyword Call NameLoad NameLoad keyword ListLoad Num Num Num Assign SubscriptStore NameLoad Index Str NameLoad Return Call AttributeLoad NameLoad attr NameLoad decorator_list Assign NameStore Call AttributeLoad NameLoad attr Str keyword Call NameLoad Assign NameStore Call AttributeLoad NameLoad attr Str keyword Call NameLoad For TupleStore NameStore NameStore Call NameLoad NameLoad body Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword Num If Call NameLoad NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad BinOpMod Str NameLoad keyword NameLoad keyword Call NameLoad keyword Num keyword NameLoad Expr Call NameLoad NameLoad NameLoad NameLoad NameLoad orelse Expr Call AttributeLoad NameLoad attr NameLoad BinOpMod Str NameLoad keyword NameLoad keyword Call NameLoad keyword Num keyword NameLoad decorator_list FunctionDef arguments args NameParam defaults NameLoad body Expr Str Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore BoolOpOr NameLoad AttributeLoad NameLoad attr Assign TupleStore NameStore NameStore Call NameLoad NameLoad keyword Num keyword Num Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num If UnaryOpNot Call AttributeLoad NameLoad attr body Return Assign NameStore Num Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Str Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword Str keyword NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad keyword Num keyword Num Assign NameStore ListLoad Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore NameLoad Assign NameStore ListLoad For TupleStore NameStore NameStore Call NameLoad NameLoad body Assign NameStore Call NameLoad NameLoad BinOpMod Str NameLoad keyword ListLoad Num Num Num keyword Call NameLoad keyword NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad Assign NameStore ListComp Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad comprehension NameStore SubscriptLoad NameLoad Slice Num Assign NameStore NameLoad For NameStore NameLoad body If BoolOpOr CompareLt NameLoad Num CompareGt NameLoad Num body Assign NameStore NameLoad If NameLoad body Continue Expr Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad Str keyword Num TryExcept body Assign NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad If CompareIsNot NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr TupleLoad NameLoad NameLoad handlers ExceptHandler body Print Call AttributeLoad NameLoad attr Print Str NameLoad If UnaryOpNot NameLoad body Return Expr Call NameLoad NameLoad NameLoad NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore ListLoad For NameStore NameLoad body Assign TupleStore NameStore NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call NameLoad NameLoad BinOpSub NameLoad NameLoad ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr TupleLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr keyword Lambda arguments args NameParam defaults SubscriptLoad NameLoad Index Num Assign NameStore Call NameLoad For TupleStore NameStore NameStore Call NameLoad NameLoad body Assign TupleStore NameStore NameStore NameStore NameLoad If CompareEq NameLoad Num body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore Call NameLoad NameLoad Str keyword ListLoad Num Num Num keyword NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call NameLoad keyword Str keyword Str Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr ListLoad Num Num Num orelse Assign NameStore Call NameLoad NameLoad Str keyword ListLoad Num Num Num keyword NameLoad keyword Call NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Call NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Return Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad NameLoad Call AttributeLoad NameLoad attr NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore Num Assign NameStore Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num If UnaryOpNot Call AttributeLoad NameLoad attr body Return Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword Num keyword NameLoad If UnaryOpNot Call AttributeLoad NameLoad attr body Return Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Expr Call AttributeLoad NameLoad attr keyword Lambda arguments args NameParam defaults Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad Str attr If UnaryOpNot NameLoad body Return Assign NameStore SubscriptLoad NameLoad Index Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num If UnaryOpNot Call AttributeLoad NameLoad attr body Return Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore UnaryOpUSub Call AttributeLoad NameLoad attr Call AttributeLoad Call AttributeLoad Call NameLoad attr attr Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assert CompareIsNot NameLoad NameLoad Assign NameStore Call NameLoad Assign NameStore Call NameLoad NameLoad Str keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults NameLoad body Expr Str Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore BoolOpOr NameLoad AttributeLoad NameLoad attr Assign TupleStore NameStore NameStore NameStore NameStore Call NameLoad NameLoad NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListComp Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad comprehension NameStore NameLoad Assign NameStore ListComp BinOpDiv NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad comprehension NameStore NameLoad Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr If CompareLt Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index Num NameLoad Num body Assign SubscriptStore NameLoad Index Num UnaryOpUSub SubscriptLoad NameLoad Index Num Assign NameStore SubscriptLoad NameLoad Index Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad SubscriptLoad AttributeLoad NameLoad attr Index Num attr attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Assign NameStore Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad Str keyword ListLoad Num Num Num keyword NameLoad keyword NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword Num keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr ListLoad Num Num Num ListLoad Num Num Num ListLoad Num Num Num keyword Str Expr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore Num Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num NameLoad Assign NameStore BinOpSub NameLoad NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad BinOpDiv NameLoad NameLoad ListLoad Num BinOpAdd NameLoad Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore NameLoad Assign NameStore BinOpDiv NameLoad NameLoad Assign NameStore Call NameLoad NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore NameLoad Assign NameStore BinOpSub SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr UnaryOpUSub NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr ListLoad Num Num Num ListLoad Num Num Num ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore BoolOpOr NameLoad Call NameLoad Assert NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults Num Num Num Num NameLoad body Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr If NameLoad body Expr Call AttributeLoad NameLoad attr Num Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad BinOpAdd Num NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults Str body Assign NameStore Call AttributeLoad NameLoad attr Str If UnaryOpNot NameLoad body Assign NameStore Call NameLoad Assert CompareIn NameLoad TupleLoad Str Str Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call NameLoad BinOpMod Str SubscriptLoad NameLoad Index Num Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr decorator_list ClassDef bases NameLoad body FunctionDef arguments args NameParam NameParam defaults Num body Expr Call AttributeLoad NameLoad attr NameLoad Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign AttributeStore NameLoad attr ListComp NameLoad comprehension NameStore Call NameLoad AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr ListLoad Num Num decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults NameLoad body Assign AttributeStore NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults NameLoad body For NameStore Call NameLoad AttributeLoad NameLoad attr body If CompareIs SubscriptLoad AttributeLoad NameLoad attr Index NameLoad NameLoad body Assign SubscriptStore AttributeLoad NameLoad attr Index NameLoad AttributeLoad NameLoad attr Break If CompareIsNot SubscriptLoad AttributeLoad NameLoad attr Index Num NameLoad body Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore ListComp Call AttributeLoad NameLoad attr comprehension NameStore AttributeLoad NameLoad attr If CompareIsNot AttributeLoad NameLoad attr NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad Expr Call NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Pass decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call NameLoad Assign NameStore ListComp IfExp CompareIsNot NameLoad NameLoad NameLoad AttributeLoad NameLoad attr comprehension NameStore AttributeLoad NameLoad attr For NameStore NameLoad body If CompareIsNot NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad keyword Num If AttributeLoad NameLoad attr body For TupleStore NameStore NameStore Call NameLoad NameLoad SubscriptLoad NameLoad Slice Num body If CompareIsNot NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad NameLoad If CompareIsNot SubscriptLoad NameLoad Index Num NameLoad body Expr Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Assign AttributeStore NameLoad attr Call NameLoad Call AttributeLoad NameLoad attr Str keyword Call NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr Str Call AttributeLoad NameLoad attr Num Num Num Expr Call AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body If UnaryOpNot AttributeLoad NameLoad attr body Return If UnaryOpNot Call AttributeLoad NameLoad attr Str body Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Return Assign AttributeStore NameLoad attr Call NameLoad AttributeLoad NameLoad attr Call NameLoad keyword Str Expr Call AttributeLoad NameLoad attr decorator_list decorator_list ClassDef bases NameLoad body FunctionDef arguments args NameParam NameParam defaults body Expr Call AttributeLoad NameLoad attr NameLoad Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr Expr Call AttributeLoad AttributeLoad NameLoad attr attr Expr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr attr Expr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr attr Expr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr attr Num Expr Call AttributeLoad AttributeLoad NameLoad attr attr Num Num Expr Call AttributeLoad AttributeLoad NameLoad attr attr Num Num Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr ListLoad Num Num Expr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults NameLoad body Assign AttributeStore NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults NameLoad body If CompareIs AttributeLoad NameLoad attr NameLoad body Assign AttributeStore NameLoad attr Call NameLoad AttributeLoad NameLoad attr If CompareIsNot AttributeLoad NameLoad attr NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr orelse Assign AttributeStore NameLoad attr AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr If CompareIsNot AttributeLoad NameLoad attr NameLoad body Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Pass decorator_list FunctionDef arguments args NameParam defaults body If UnaryOpNot AttributeLoad NameLoad attr body Return If AttributeLoad NameLoad attr body Expr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr Expr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr Expr Call AttributeLoad AttributeLoad NameLoad attr attr decorator_list decorator_list Assign NameStore ListLoad FunctionDef arguments args NameParam defaults body Global identifier Expr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body Global identifier Expr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr BinOpPow Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad BinOpSub NameLoad NameLoad Num Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr BinOpSub NameLoad NameLoad Return BinOpDiv NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults Str body Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr BinOpPow Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad BinOpSub NameLoad NameLoad Num keyword Num Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr BinOpSub NameLoad NameLoad Assign NameStore BinOpDiv NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Str body Assert Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore BinOpSub NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr BinOpPow NameLoad Num keyword Num Assign NameStore Call NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad Return TupleLoad NameLoad NameLoad Call AttributeLoad NameLoad attr TupleLoad NameLoad ListLoad Call AttributeLoad NameLoad attr NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults Num body Assign NameStore Call NameLoad NameLoad NameLoad keyword Str Assign NameStore Call NameLoad NameLoad NameLoad keyword Str Assign TupleStore NameStore NameStore Call NameLoad NameLoad Str NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore BinOpSub Call NameLoad NameLoad Num Assign NameStore ListLoad For NameStore Call NameLoad NameLoad body Assign NameStore SubscriptLoad NameLoad Index CompareEq NameLoad NameLoad Assign NameStore SubscriptLoad NameLoad Index CompareEq NameLoad NameLoad If Call NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index Call AttributeLoad NameLoad attr Return Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Num body Assign NameStore Call NameLoad NameLoad NameLoad keyword Str Assign TupleStore NameStore NameStore Call NameLoad NameLoad Str NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore BinOpSub Call NameLoad NameLoad Num Assign NameStore ListLoad For NameStore Call NameLoad NameLoad body Assign NameStore SubscriptLoad NameLoad Index CompareEq NameLoad NameLoad If Call NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad keyword Num Return Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Num body Assign NameStore Call NameLoad NameLoad NameLoad keyword Str Assign TupleStore NameStore NameStore Call NameLoad NameLoad Str NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore BinOpSub Call NameLoad NameLoad Num Assign NameStore ListLoad For NameStore Call NameLoad NameLoad body Assign NameStore SubscriptLoad NameLoad Index CompareEq NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Call NameLoad NameLoad Return Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults Str body Expr Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr BinOpAdd Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore BinOpSub Call AttributeLoad NameLoad attr NameLoad NameLoad Num Assert CompareEq Call NameLoad NameLoad Call NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Str Assert Call AttributeLoad Call AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Num Num Num AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call NameLoad Call AttributeLoad NameLoad attr Str decorator_list FunctionDef arguments args NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr Assert NameLoad Assign NameStore Call NameLoad NameLoad Assign NameStore Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Num Num Num AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assert CompareEq Call AttributeLoad NameLoad attr Num Assign NameStore Call AttributeLoad NameLoad attr Num Assign NameStore ListComp Call AttributeLoad NameLoad attr Num comprehension NameStore Call NameLoad Num Expr Call AttributeLoad NameLoad attr Num NameLoad For NameStore Call NameLoad Num body Expr Call AttributeLoad NameLoad attr Num NameLoad SubscriptLoad NameLoad Index NameLoad Return TupleLoad NameLoad NameLoad Call NameLoad Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad AttributeLoad NameLoad attr attr Expr Call AttributeLoad NameLoad attr Str Num Expr Call AttributeLoad NameLoad attr Str Num Assign NameStore BinOpSub NameLoad NameLoad Assign NameStore BinOpDiv NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign TupleStore NameStore NameStore NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad BinOpSub NameLoad NameLoad Assign NameStore BinOpDiv NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad Call AttributeLoad Call NameLoad attr attr If CompareLt Call AttributeLoad NameLoad attr NameLoad NameLoad Num body AugAssignMult NameStore Num If CompareLt Call AttributeLoad NameLoad attr NameLoad BinOpSub NameLoad NameLoad Num body AugAssignMult NameStore Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore BinOpAdd BinOpAdd BinOpDiv BinOpAdd NameLoad NameLoad Num BinOpDiv BinOpMult NameLoad NameLoad Num BinOpDiv BinOpMult NameLoad NameLoad Num Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr BinOpSub NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num BinOpAdd NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num Expr Call AttributeLoad NameLoad attr BinOpSub NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num BinOpAdd NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num Expr Call AttributeLoad NameLoad attr BinOpSub NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num BinOpAdd NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr Str Call AttributeLoad NameLoad attr Num Num Num Expr Call AttributeLoad NameLoad attr Str NameLoad Expr Call AttributeLoad Call AttributeLoad NameLoad attr Str attr Str NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword Str Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore ListComp Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index NameLoad comprehension NameStore ListLoad Str Str Str Assign NameStore ListComp BinOpDiv Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index NameLoad Num comprehension NameStore ListLoad Str Str Str Assign NameStore ListComp BinOpMult SubscriptLoad NameLoad Index NameLoad SubscriptLoad NameLoad Index NameLoad comprehension NameStore Call NameLoad Num Assign NameStore Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index Str Return ListLoad BinOpAdd BinOpAdd BinOpAdd NameLoad SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num BinOpAdd BinOpAdd BinOpSub NameLoad SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num BinOpAdd BinOpSub BinOpSub NameLoad SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num BinOpAdd BinOpSub BinOpAdd NameLoad SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num BinOpSub BinOpAdd BinOpAdd NameLoad SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num BinOpSub BinOpAdd BinOpSub NameLoad SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num BinOpSub BinOpSub BinOpSub NameLoad SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num BinOpSub BinOpSub BinOpAdd NameLoad SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num decorator_list FunctionDef arguments args NameParam NameParam defaults body Return Call AttributeLoad NameLoad attr ListComp Call AttributeLoad AttributeLoad NameLoad attr attr BinOpSub NameLoad NameLoad comprehension NameStore NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore Call NameLoad AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad Return SubscriptLoad NameLoad Index Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore ListComp Call AttributeLoad NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index NameLoad comprehension NameStore ListLoad Str Str Str Assign NameStore Call AttributeLoad NameLoad attr ListComp Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad comprehension NameStore NameLoad Assign NameStore SubscriptLoad NameLoad Index Call AttributeLoad NameLoad attr If CompareLt Call AttributeLoad NameLoad attr NameLoad NameLoad Num body Assign NameStore UnaryOpUSub NameLoad Assign NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Num Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore ListComp Call AttributeLoad NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index NameLoad comprehension NameStore ListLoad Str Str Str Assign NameStore ListComp NameLoad comprehension NameStore ListLoad Str Str Str Assign NameStore Call AttributeLoad NameLoad attr ListComp Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad comprehension NameStore NameLoad Assign NameStore SubscriptLoad NameLoad Index Call AttributeLoad NameLoad attr If CompareLt Call AttributeLoad NameLoad attr NameLoad NameLoad Num body Assign NameStore UnaryOpUSub NameLoad Assign NameStore SubscriptLoad NameLoad Index Call AttributeLoad NameLoad attr NameLoad Assign NameStore NameLoad Assign NameStore SubscriptLoad NameLoad Index Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults Num body Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign TupleStore AttributeStore NameLoad attr AttributeStore NameLoad attr AttributeStore NameLoad attr NameLoad Assign TupleStore AttributeStore NameLoad attr AttributeStore NameLoad attr AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr Num Assign NameStore Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr Str Assign AttributeStore NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr ListLoad NameLoad Expr Call AttributeLoad NameLoad attr Str NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam NameParam NameParam NameParam defaults Str body Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad keyword Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Str ListComp Call NameLoad NameLoad comprehension NameStore ListLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad BinOpAdd NameLoad Str keyword Num keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam defaults Num Str body Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword Num keyword NameLoad keyword NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad If CompareLt Call AttributeLoad NameLoad attr NameLoad NameLoad Num body AugAssignMult NameStore Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad BinOpMult NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad Assign NameStore Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad Assign NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad If CompareLt Call AttributeLoad NameLoad attr NameLoad NameLoad Num body AugAssignMult NameStore Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad keyword Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign TupleStore NameStore NameStore NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr BinOpSub NameLoad NameLoad Assign NameStore BinOpAdd BinOpSub BinOpSub NameLoad BinOpDiv BinOpMult BinOpMult NameLoad NameLoad NameLoad Num BinOpDiv BinOpMult NameLoad NameLoad Num BinOpDiv BinOpMult NameLoad NameLoad Num Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad BinOpAdd NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num Expr Call AttributeLoad NameLoad attr NameLoad BinOpAdd NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num Expr Call AttributeLoad NameLoad attr NameLoad BinOpAdd NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num Assign NameStore Call NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Str ListLoad BinOpDiv Num Num BinOpDiv Num Num BinOpDiv Num Num Expr Call NameLoad NameLoad Assign NameStore Call NameLoad NameLoad If NameLoad body Expr Call NameLoad NameLoad Str keyword NameLoad Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str If NameLoad body Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad NameLoad Expr Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore Call AttributeLoad NameLoad attr Str If BoolOpAnd NameLoad NameLoad body Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign TupleStore NameStore NameStore AttributeLoad NameLoad attr Assign NameStore BinOpSub NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Assign NameStore NameLoad If NameLoad body Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr BinOpSub NameLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Num Assign NameStore Num Assign NameStore Num Assign NameStore Num orelse Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad Assign NameStore Num Assign NameStore Num Assign NameStore Num Assign NameStore BinOpDiv AttributeLoad NameLoad attr Num Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad NameLoad Call AttributeLoad NameLoad attr NameLoad ListLoad NameLoad NameLoad Num Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call NameLoad NameLoad Expr Call NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore SubscriptLoad Call AttributeLoad Call AttributeLoad NameLoad attr Str attr Slice Num Assign NameStore Call AttributeLoad Call AttributeLoad Call NameLoad attr attr Assign TupleStore NameStore NameStore NameStore Call NameLoad AttributeLoad SubscriptLoad NameLoad Index Num attr keyword NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad AttributeLoad SubscriptLoad NameLoad Index Num attr keyword NameLoad Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad SubscriptLoad NameLoad Index Num attr Str Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad SubscriptLoad NameLoad Index Num attr Str Assign NameStore Call AttributeLoad NameLoad attr Num Assign NameStore BinOpDiv Call AttributeLoad NameLoad attr NameLoad keyword Num Call NameLoad NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Assign TupleStore NameStore NameStore NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr BinOpSub NameLoad NameLoad Assign NameStore BinOpAdd BinOpAdd BinOpAdd NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num BinOpDiv BinOpMult NameLoad NameLoad Num BinOpDiv BinOpMult NameLoad NameLoad Num Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr BinOpSub NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num BinOpAdd NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num Expr Call AttributeLoad NameLoad attr BinOpSub NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num BinOpAdd NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num Expr Call AttributeLoad NameLoad attr BinOpSub NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num BinOpAdd NameLoad BinOpDiv BinOpMult NameLoad NameLoad Num Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr Str Call AttributeLoad NameLoad attr Num Num Num Expr Call AttributeLoad NameLoad attr Str NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad Str keyword NameLoad keyword Str Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore ListLoad Num Num Num Assign NameStore ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Str keyword ListLoad Num Num Num keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad If UnaryOpNot Call AttributeLoad NameLoad attr body Return NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num If CompareLt Call AttributeLoad NameLoad attr Num body Return NameLoad Expr Call NameLoad NameLoad Str keyword Str keyword Call NameLoad keyword NameLoad Assign NameStore Num Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad Expr Call NameLoad NameLoad Str keyword Str keyword Call NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad If CompareLt Call AttributeLoad NameLoad attr NameLoad BinOpSub NameLoad NameLoad Num body AugAssignMult NameStore Num Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num If CompareLt Call AttributeLoad NameLoad attr Num body Return NameLoad Assign NameStore Call NameLoad NameLoad Str keyword Str keyword Call NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Str Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Str keyword ListLoad Num Num Num keyword Call NameLoad keyword NameLoad Return NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body Global identifier Assign NameStore NameLoad decorator_list FunctionDef arguments args defaults body Global identifier Return NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad keyword Num Expr Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body Print NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign TupleStore NameStore NameStore TupleLoad NameLoad NameLoad Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Str keyword NameLoad Assign AttributeStore NameLoad attr ListLoad NameLoad NameLoad Assign NameStore BinOpSub NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr BinOpAdd BinOpAdd UnaryOpUSub NameLoad NameLoad BinOpMult NameLoad Num Expr Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore Call NameLoad AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad Call AttributeLoad Call NameLoad attr attr Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword Num keyword NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad keyword Num Assign NameStore Call NameLoad NameLoad keyword Num keyword Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword Str keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad keyword Num Expr Call AttributeLoad NameLoad attr keyword Lambda arguments args NameParam defaults Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad Str attr Assign NameStore SubscriptLoad NameLoad Index Num Assign NameStore Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore ListLoad Num Num Num AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad If CompareLt Call AttributeLoad NameLoad attr NameLoad ListLoad Num Num Num Num body AugAssignMult NameStore Num AugAssignMult NameStore Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Str keyword NameLoad keyword NameLoad Assign AttributeStore NameLoad attr ListLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Expr Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr BinOpAdd BinOpAdd UnaryOpUSub NameLoad NameLoad BinOpMult NameLoad Num Expr Call NameLoad NameLoad Str keyword NameLoad keyword NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore Call NameLoad AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad Call AttributeLoad Call NameLoad attr attr Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword Num keyword NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad keyword Num Assign NameStore Call NameLoad NameLoad keyword Num keyword Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword Str keyword NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad keyword Num Expr Call AttributeLoad NameLoad attr keyword Lambda arguments args NameParam defaults Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad Str attr Assign NameStore SubscriptLoad NameLoad Index Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore BinOpSub NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad If CompareLt Call AttributeLoad NameLoad attr NameLoad NameLoad Num body AugAssignMult NameStore Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call NameLoad Call AttributeLoad NameLoad attr Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr BinOpDiv BinOpAdd NameLoad NameLoad Num Expr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad decorator_list Assign NameStore NameLoad FunctionDef arguments args defaults body Global identifier If CompareIs NameLoad NameLoad body Return Assign NameStore Call NameLoad If NameLoad body Expr Call AttributeLoad NameLoad attr Str Num Assign NameStore Call AttributeLoad NameLoad attr Str If CompareIsNot NameLoad NameLoad body Expr Call AttributeLoad AttributeLoad NameLoad attr attr Num Assign NameStore Call NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index Str Expr Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index Str Expr Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index Str Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults NameLoad body Global identifier If BoolOpOr NameLoad CompareIs NameLoad NameLoad body Assign NameStore Call NameLoad Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad keyword Call AttributeLoad NameLoad attr keyword Call AttributeLoad NameLoad attr keyword Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args defaults body Assign NameStore Call AttributeLoad NameLoad attr If Call NameLoad NameLoad NameLoad body Return NameLoad For NameStore Call AttributeLoad NameLoad attr body If Call NameLoad NameLoad NameLoad body Return NameLoad decorator_list FunctionDef arguments args defaults body For NameStore Call AttributeLoad NameLoad attr body If BoolOpAnd Call NameLoad NameLoad AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Str body Return NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad If UnaryOpNot NameLoad body Return Expr Call NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Str Num Expr Call AttributeLoad AttributeLoad Call AttributeLoad NameLoad attr Str attr attr Num Assign NameStore Call NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore UnaryOpUSub SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore BinOpMult SubscriptLoad AttributeLoad NameLoad attr Index Str Num Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr BinOpSub NameLoad BinOpMult NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad If UnaryOpNot NameLoad body Return Expr Call NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Str Num Expr Call AttributeLoad AttributeLoad Call AttributeLoad NameLoad attr Str attr attr Num Assign NameStore Call NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore UnaryOpUSub SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore BinOpMult SubscriptLoad AttributeLoad NameLoad attr Index Str Num Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr BinOpSub NameLoad BinOpMult NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args defaults body Assign NameStore Call NameLoad If UnaryOpNot NameLoad body Return Expr Call NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Str Num Expr Call AttributeLoad AttributeLoad Call AttributeLoad NameLoad attr Str attr attr Num Assign NameStore Call NameLoad Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore UnaryOpUSub SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Str Assign NameStore BinOpMult SubscriptLoad AttributeLoad NameLoad attr Index Str Num Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr BinOpSub NameLoad BinOpMult NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Num NameLoad body Assign NameStore Call NameLoad NameLoad Call NameLoad keyword Str If CompareIs NameLoad NameLoad body Return Assign NameStore BoolOpOr NameLoad Call AttributeLoad NameLoad attr Assign TupleStore NameStore NameStore Call NameLoad Call NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListLoad NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListLoad BinOpSub NameLoad NameLoad BinOpAdd NameLoad NameLoad Assign NameStore ListLoad SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Expr Call AttributeLoad Call AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad Call AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults NameLoad Num NameLoad body If CompareIs NameLoad NameLoad body Assign NameStore Call NameLoad If BoolOpOr UnaryOpNot NameLoad UnaryOpNot Call AttributeLoad NameLoad attr body Return NameLoad Assign NameStore Call NameLoad NameLoad NameLoad BinOpAdd NameLoad NameLoad Assign NameStore Call NameLoad NameLoad Str ListLoad Num NameLoad If UnaryOpNot Call AttributeLoad NameLoad attr body Return NameLoad Assign NameStore Call NameLoad NameLoad NameLoad keyword NameLoad keyword Str Assign NameStore Call NameLoad NameLoad Str ListLoad Num Num If UnaryOpNot Call AttributeLoad NameLoad attr body Return NameLoad Expr Call NameLoad NameLoad Str keyword Str keyword NameLoad keyword Call NameLoad If NameLoad body Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str orelse Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore SubscriptLoad NameLoad Index Call AttributeLoad NameLoad attr Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Str keyword NameLoad keyword ListLoad Num Num Num keyword Call NameLoad Expr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr attr Num Assign NameStore Call NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult Num NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Str keyword NameLoad keyword ListLoad Num Num Num keyword Call NameLoad Expr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr attr Num Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign NameStore Call NameLoad If CompareIs NameLoad NameLoad body Print Str Return NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore BinOpMult Num Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad keyword NameLoad keyword NameLoad keyword Num keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad NameLoad Assign NameStore UnaryOpUSub NameLoad Assign NameStore ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad AugAssignDiv NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Str Expr Call NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr NameLoad Str keyword NameLoad keyword NameLoad keyword Num Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr NameLoad keyword Num Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr Str keyword NameLoad keyword NameLoad keyword ListLoad Num Num Num Expr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr attr Num Return NameLoad decorator_list FunctionDef arguments args defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Str Expr Call NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr NameLoad Str keyword NameLoad keyword NameLoad keyword Num decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr ListLoad Num Num Num ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num Num Num Assign NameStore Call NameLoad NameLoad NameLoad keyword NameLoad keyword Str Expr Call AttributeLoad NameLoad attr NameLoad Str keyword Str keyword NameLoad Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad Str attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Return SubscriptLoad NameLoad ExtSlice Index NameLoad Slice decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign NameStore Call NameLoad NameLoad keyword Num FunctionDef arguments args NameParam defaults body Expr Str Assign NameStore AttributeLoad Call AttributeLoad NameLoad attr TupleLoad AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index Num attr Assign NameStore Call AttributeLoad NameLoad attr Return Call AttributeLoad NameLoad attr NameLoad decorator_list Assign NameStore Call AttributeLoad NameLoad attr NameLoad Str Assign NameStore SubscriptLoad NameLoad ExtSlice Slice Index ListLoad Num Num Expr Call AttributeLoad NameLoad attr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore SubscriptLoad NameLoad Slice Num Assign TupleStore NameStore NameStore NameStore NameStore NameStore NameStore Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Call NameLoad NameLoad Str keyword Call NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Assign NameStore AttributeLoad Call AttributeLoad NameLoad attr TupleLoad AttributeLoad NameLoad attr BinOpMult SubscriptLoad NameLoad Index Num Call AttributeLoad NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index Num attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr attr Assign NameStore BinOpDiv BinOpMult Call AttributeLoad NameLoad attr SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Num AttributeLoad NameLoad attr Assign NameStore BinOpMult NameLoad BinOpDiv Num AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr ListLoad NameLoad BinOpAdd NameLoad Num BinOpAdd NameLoad Num BinOpAdd NameLoad Num Assign NameStore BinOpSub NameLoad NameLoad For NameStore Call NameLoad Num Num body If CompareGt SubscriptLoad NameLoad Index NameLoad Num body Assign SubscriptStore NameLoad Index NameLoad BinOpSub SubscriptLoad NameLoad Index NameLoad Num Assign NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad If BoolOpOr CompareEq NameLoad Num CompareEq NameLoad Num body Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore BinOpDiv BinOpMult SubscriptLoad NameLoad Index NameLoad AttributeLoad NameLoad attr Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad ListLoad Num Num Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Str keyword Call NameLoad keyword NameLoad Return TupleLoad NameLoad NameLoad NameLoad NameLoad decorator_list
N/A N/A os N/A sys N/A math N/A vtk N/A time N/A functools N/A traceback N/A PythonQt PythonQt QtCore QtGui N/A director.applogic app director objectmodel om director perception director lcmUtils director roboturdf director transformUtils director visualization vis director.transformUtils getTransformFromAxes director.timercallback TimerCallback director mapsregistrar director affordancemanager director.affordanceitems * director.visualization * director.filterUtils * director.fieldcontainer FieldContainer director.segmentationroutines * director cameraview thirdparty qhull_2d thirdparty min_bounding_rect N/A numpy np N/A vtkNumpy debugVis DebugData shallowCopy shallowCopy N/A ioUtils director.uuidutil newUUID N/A drc lcmdrc N/A bot_core lcmbotcore N/A vs lcmvs director lcmUtils N/A DRILL_TRIANGLE_BOTTOM_LEFT bottom left N/A DRILL_TRIANGLE_BOTTOM_RIGHT bottom right N/A DRILL_TRIANGLE_TOP_LEFT top left N/A DRILL_TRIANGLE_TOP_RIGHT top right N/A planeSegmentationFilter N/A vtk vtkPlaneSegmentation N/A _defaultSegmentationView None getSegmentationView N/A N/A N/A N/A N/A N/A _defaultSegmentationView N/A N/A N/A N/A app getViewManager findView Segmentation View N/A getDRCView N/A N/A N/A N/A N/A N/A N/A app getDRCView N/A switchToView N/A N/A viewName N/A N/A N/A N/A N/A N/A N/A app getViewManager switchToView viewName N/A getCurrentView N/A N/A N/A N/A N/A N/A N/A app getCurrentRenderView N/A initAffordanceManager N/A N/A view N/A N/A N/A 
    Normally the affordance manager is initialized by the application.
    This function can be called from scripts and tests to initialize the manager.
     N/A affordanceManager N/A affordanceManager N/A N/A affordancemanager AffordanceObjectModelManager view N/A cropToLineSegment N/A N/A polyData point1 point2 N/A N/A N/A line N/A N/A N/A np array point2 N/A N/A np array point1 N/A length N/A N/A N/A np linalg norm line N/A axis N/A line length N/A polyData N/A labelPointDistanceAlongAxis polyData axis origin point1 resultArrayName dist_along_line N/A N/A thresholdPoints polyData dist_along_line N/A 0.0 length N/A N/A 
icp programmable filter

import vtkFiltersGeneralPython as filtersGeneral

points = inputs[0]
block = inputs[1]

print points.GetNumberOfPoints()
print block.GetNumberOfPoints()

if points.GetNumberOfPoints() < block.GetNumberOfPoints():
    block, points = points, block

icp = vtk.vtkIterativeClosestPointTransform()
icp.SetSource(points.VTKObject)
icp.SetTarget(block.VTKObject)
icp.GetLandmarkTransform().SetModeToRigidBody()
icp.Update()

t = filtersGeneral.vtkTransformPolyDataFilter()
t.SetInput(points.VTKObject)
t.SetTransform(icp)
t.Update()

output.ShallowCopy(t.GetOutput())
 computeAToB N/A N/A a b N/A N/A N/A t N/A N/A vtk vtkTransform N/A N/A N/A t PostMultiply N/A N/A N/A t Concatenate b N/A N/A N/A t Concatenate N/A N/A a GetLinearInverse N/A tt N/A N/A vtk vtkTransform N/A N/A N/A tt SetMatrix N/A N/A t GetMatrix N/A tt N/A lockAffordanceToHand N/A N/A aff hand N/A l_hand N/A N/A linkFrame N/A getLinkFrame hand N/A affT N/A N/A N/A aff actor GetUserTransform N/A N/A N/A N/A hasattr aff handToAffT N/A N/A aff handToAffT N/A N/A N/A aff handToAffT N/A computeAToB linkFrame affT N/A t N/A N/A vtk vtkTransform N/A N/A N/A t PostMultiply N/A N/A N/A t Concatenate N/A aff handToAffT N/A N/A N/A t Concatenate linkFrame N/A N/A N/A N/A N/A N/A aff actor GetUserTransform SetMatrix N/A N/A t GetMatrix N/A N/A handAffUpdater None lockToHandOn N/A N/A N/A N/A N/A aff N/A getDefaultAffordanceObject N/A N/A aff N/A N/A N/A handAffUpdater N/A N/A handAffUpdater None N/A N/A handAffUpdater N/A TimerCallback N/A N/A handAffUpdater targetFps 30 N/A N/A handAffUpdater callback N/A N/A functools partial lockAffordanceToHand aff N/A N/A N/A handAffUpdater start N/A lockToHandOff N/A N/A N/A N/A N/A aff N/A getDefaultAffordanceObject N/A N/A aff N/A N/A N/A N/A N/A handAffUpdater stop N/A N/A aff handToAffT None N/A DisparityPointCloudItem N/A N/A vis PolyDataItem N/A __init__ N/A N/A self name imagesChannel cameraName imageManager N/A N/A N/A N/A N/A N/A vis PolyDataItem __init__ self name N/A N/A vtk vtkPolyData view None N/A N/A N/A self addProperty Channel imagesChannel N/A N/A N/A self addProperty Camera name cameraName N/A N/A N/A self addProperty Decimation 0 attributes N/A N/A om PropertyAttributes enumNames N/A 1 2 4 8 16 N/A N/A N/A self addProperty Remove Size 1000 attributes N/A N/A om PropertyAttributes decimals 0 minimum 0 maximum 100000.0 singleStep 1000 N/A N/A N/A self addProperty Target FPS 1.0 attributes N/A N/A om PropertyAttributes decimals 1 minimum 0.1 maximum 30.0 singleStep 0.1 N/A N/A self timer N/A TimerCallback N/A N/A N/A self timer callback N/A self update N/A N/A self lastUtime 0 N/A N/A self imageManager imageManager N/A N/A self cameraName cameraName N/A N/A N/A self setProperty Visible False N/A _onPropertyChanged N/A N/A self propertySet propertyName N/A N/A N/A N/A N/A N/A vis PolyDataItem _onPropertyChanged self propertySet propertyName N/A N/A propertyName Visible N/A N/A N/A N/A self getProperty propertyName N/A N/A N/A N/A N/A self timer start N/A N/A N/A N/A N/A self timer stop N/A N/A N/A propertyName N/A Decimation Remove outliers N/A N/A N/A self lastUtime 0 N/A onRemoveFromObjectModel N/A N/A self N/A N/A N/A N/A N/A N/A vis PolyDataItem onRemoveFromObjectModel self N/A N/A N/A N/A self timer stop N/A update N/A N/A self N/A N/A N/A utime N/A N/A N/A N/A self imageManager queue getCurrentImageTime N/A self cameraName N/A N/A utime N/A self lastUtime N/A N/A N/A N/A utime N/A self lastUtime N/A N/A temp 0 N/A N/A N/A N/A utime N/A self lastUtime N/A 1000000.0 N/A N/A self getProperty Target FPS N/A N/A N/A decimation N/A int N/A N/A N/A self properties getPropertyEnumValue Decimation N/A removeSize N/A int N/A N/A N/A self properties getProperty Remove Size N/A polyData N/A getDisparityPointCloud decimation imagesChannel N/A N/A self getProperty Channel cameraName N/A N/A self getProperty Camera name removeOutliers False removeSize removeSize N/A N/A N/A self setPolyData polyData N/A N/A N/A self lastUtime N/A N/A N/A N/A self setProperty Color By rgb_colors N/A N/A self lastUtime utime N/A N/A extractLargestCluster N/A N/A polyData minClusterSize N/A 100 N/A N/A polyData N/A applyEuclideanClustering polyData minClusterSize minClusterSize N/A N/A thresholdPoints polyData cluster_labels N/A 1 1 N/A segmentGround N/A N/A polyData groundThickness sceneHeightFromGround N/A 0.02 0.05 N/A N/A  A More complex ground removal algorithm. Works when plane isn't
    preceisely flat. First clusters on z to find approx ground height, then fits a plane there
     N/A searchRegionThickness 0.5 N/A zvalues N/A N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A N/A N/A 2 N/A groundHeight N/A N/A np percentile zvalues 5 N/A N/A N/A vtkNumpy addNumpyToVtk polyData N/A N/A zvalues copy z N/A searchRegion N/A thresholdPoints polyData z N/A N/A groundHeight N/A searchRegionThickness 2.0 N/A groundHeight N/A searchRegionThickness 2.0 N/A N/A updatePolyData searchRegion ground search region parent N/A getDebugFolder colorByName z visible False N/A N/A _ origin normal N/A applyPlaneFit searchRegion distanceThreshold 0.02 expectedNormal N/A 0 0 1 perpendicularAxis N/A 0 0 1 returnOrigin True N/A points N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A dist N/A N/A np dot N/A points origin normal N/A N/A N/A vtkNumpy addNumpyToVtk polyData dist dist_to_plane N/A groundPoints N/A thresholdPoints polyData dist_to_plane N/A N/A N/A groundThickness 2.0 N/A groundThickness 2.0 N/A scenePoints N/A thresholdPoints polyData dist_to_plane N/A sceneHeightFromGround 100 N/A N/A origin normal groundPoints scenePoints N/A segmentGroundPlane N/A N/A N/A N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A N/A N/A inputObj setProperty Visible False N/A polyData N/A shallowCopy N/A inputObj polyData N/A zvalues N/A N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A N/A N/A 2 N/A groundHeight N/A N/A np percentile zvalues 5 N/A searchRegion N/A thresholdPoints polyData z N/A N/A groundHeight 0.3 N/A groundHeight 0.3 N/A N/A updatePolyData searchRegion ground search region parent N/A getDebugFolder colorByName z visible False N/A N/A _ origin normal N/A applyPlaneFit searchRegion distanceThreshold 0.02 expectedNormal N/A 0 0 1 perpendicularAxis N/A 0 0 1 returnOrigin True N/A points N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A dist N/A N/A np dot N/A points origin normal N/A N/A N/A vtkNumpy addNumpyToVtk polyData dist dist_to_plane N/A groundPoints N/A thresholdPoints polyData dist_to_plane N/A -0.01 0.01 N/A scenePoints N/A thresholdPoints polyData dist_to_plane N/A 0.05 10 N/A N/A updatePolyData groundPoints ground points alpha 0.3 N/A N/A updatePolyData scenePoints scene points alpha 0.3 N/A applyLocalPlaneFit N/A N/A polyData searchPoint searchRadius searchRadiusEnd removeGroundFirst N/A None True N/A N/A useVoxelGrid True N/A voxelGridSize 0.03 N/A distanceToPlaneThreshold 0.02 N/A useVoxelGrid N/A N/A polyData N/A applyVoxelGrid polyData leafSize voxelGridSize N/A removeGroundFirst N/A N/A N/A _ polyData N/A removeGround polyData groundThickness 0.02 sceneHeightFromGround 0.04 N/A cropped N/A cropToSphere polyData searchPoint searchRadius N/A N/A updatePolyData cropped crop to sphere visible False colorByName distance_to_point N/A N/A polyData normal N/A applyPlaneFit polyData distanceToPlaneThreshold searchOrigin searchPoint searchRadius searchRadius N/A N/A searchRadiusEnd None N/A N/A N/A polyData normal N/A applyPlaneFit polyData distanceToPlaneThreshold perpendicularAxis normal angleEpsilon N/A N/A math radians 30 searchOrigin searchPoint searchRadius searchRadiusEnd N/A fitPoints N/A thresholdPoints polyData dist_to_plane N/A N/A distanceToPlaneThreshold distanceToPlaneThreshold N/A N/A updatePolyData fitPoints fitPoints visible False N/A fitPoints N/A labelDistanceToPoint fitPoints searchPoint N/A clusters N/A extractClusters fitPoints clusterTolerance 0.05 minClusterSize 3 N/A N/A N/A clusters sort key N/A N/A N/A x N/A N/A N/A N/A N/A vtkNumpy getNumpyFromVtk x distance_to_point min N/A fitPoints N/A clusters N/A 0 N/A N/A fitPoints normal N/A normalEstimationSearchRadius 0.065 N/A f N/A N/A vtk vtkPCLNormalEstimation N/A N/A N/A f SetSearchRadius normalEstimationSearchRadius N/A N/A N/A f SetInput polyData N/A N/A N/A f Update N/A scenePoints N/A shallowCopy N/A N/A f GetOutput N/A normals N/A N/A vtkNumpy getNumpyFromVtk scenePoints normals N/A normalsDotPlaneNormal N/A N/A np abs N/A N/A np dot normals normal N/A N/A N/A vtkNumpy addNumpyToVtk scenePoints normalsDotPlaneNormal normals_dot_plane_normal N/A N/A showPolyData scenePoints scene_with_normals parent N/A getDebugFolder colorByName normals_dot_plane_normal N/A surfaces N/A thresholdPoints scenePoints normals_dot_plane_normal N/A 0.95 1.0 N/A clusters N/A extractClusters surfaces clusterTolerance 0.1 minClusterSize 5 N/A clusters N/A clusters N/A 10 N/A N/A i cluster N/A enumerate clusters N/A N/A N/A showPolyData cluster N/A plane cluster %i i parent N/A getDebugFolder visible False N/A fitPoints N/A orientToMajorPlane N/A N/A polyData pickedPoint N/A N/A N/A 
    Find the largest plane and transform the cloud to align that plane
    Use the given point as the origin
     N/A distanceToPlaneThreshold 0.02 N/A searchRadius 0.5 N/A N/A planePoints origin normal N/A applyPlaneFit polyData distanceToPlaneThreshold searchOrigin pickedPoint searchRadius searchRadius returnOrigin True N/A N/A N/A vis updatePolyData planePoints local plane fit color N/A 0 1 0 parent N/A getDebugFolder visible False N/A planeFrame N/A N/A transformUtils getTransformFromOriginAndNormal pickedPoint normal N/A N/A N/A vis updateFrame planeFrame plane frame scale 0.15 parent N/A getDebugFolder visible False N/A polyData N/A transformPolyData polyData N/A N/A planeFrame GetLinearInverse N/A zvalues N/A N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A N/A N/A 2 N/A midCloudHeight N/A N/A np mean zvalues N/A N/A midCloudHeight 0 N/A N/A flipTransform N/A N/A transformUtils frameFromPositionAndRPY N/A 0 0 0 N/A 0 180 0 N/A polyData N/A transformPolyData polyData flipTransform N/A N/A polyData planeFrame N/A getMajorPlanes N/A N/A polyData useVoxelGrid N/A True N/A N/A voxelGridSize 0.01 N/A distanceToPlaneThreshold 0.02 N/A useVoxelGrid N/A N/A polyData N/A applyVoxelGrid polyData leafSize voxelGridSize N/A polyDataList N/A N/A minClusterSize 100 N/A N/A N/A len polyDataList 25 N/A N/A f N/A planeSegmentationFilter N/A N/A N/A f SetInput polyData N/A N/A N/A f SetDistanceThreshold distanceToPlaneThreshold N/A N/A N/A f Update N/A polyData N/A shallowCopy N/A N/A f GetOutput N/A outliers N/A thresholdPoints polyData ransac_labels N/A 0 0 N/A inliers N/A thresholdPoints polyData ransac_labels N/A 1 1 N/A largestCluster N/A extractLargestCluster inliers N/A N/A N/A N/A largestCluster GetNumberOfPoints minClusterSize N/A N/A N/A N/A polyDataList append largestCluster N/A polyData outliers N/A N/A N/A polyDataList N/A showMajorPlanes N/A N/A polyData N/A None N/A N/A N/A polyData N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A N/A N/A inputObj setProperty Visible False N/A polyData N/A inputObj polyData N/A N/A N/A om removeFromObjectModel N/A N/A om findObjectByName major planes N/A folderObj N/A N/A om findObjectByName segmentation N/A folderObj N/A N/A om getOrCreateContainer major planes folderObj N/A origin N/A N/A N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewFrame GetPosition N/A polyData N/A labelDistanceToPoint polyData origin N/A polyData N/A thresholdPoints polyData distance_to_point N/A 1 4 N/A polyDataList N/A getMajorPlanes polyData N/A N/A i polyData N/A enumerate polyDataList N/A N/A obj N/A showPolyData polyData N/A plane %d i color N/A getRandomColor visible True parent major planes N/A N/A N/A obj setProperty Point Size 3 N/A cropToBox N/A N/A polyData transform dimensions N/A N/A N/A 
    dimensions is length 3 describing box dimensions
     N/A origin N/A N/A np array N/A N/A transform GetPosition N/A axes N/A N/A transformUtils getAxesFromTransform transform N/A N/A axis length N/A zip axes dimensions N/A N/A cropAxis N/A N/A N/A np array axis N/A length 2.0 N/A polyData N/A cropToLineSegment polyData N/A origin cropAxis N/A origin cropAxis N/A polyData N/A cropToBounds N/A N/A polyData transform bounds N/A N/A N/A 
    bounds is a 2x3 containing the min/max values along the transform axes to use for cropping
     N/A origin N/A N/A np array N/A N/A transform GetPosition N/A axes N/A N/A transformUtils getAxesFromTransform transform N/A N/A axis bound N/A zip axes bounds N/A N/A axis N/A N/A N/A np array axis N/A N/A N/A np linalg norm axis N/A polyData N/A cropToLineSegment polyData N/A origin N/A axis N/A bound N/A 0 N/A origin N/A axis N/A bound N/A 1 N/A polyData N/A cropToSphere N/A N/A polyData origin radius N/A N/A N/A polyData N/A labelDistanceToPoint polyData origin N/A N/A thresholdPoints polyData distance_to_point N/A 0 radius N/A applyPlaneFit N/A N/A polyData distanceThreshold expectedNormal perpendicularAxis angleEpsilon returnOrigin searchOrigin searchRadius N/A 0.02 None None 0.2 False None None N/A N/A expectedNormal N/A N/A expectedNormal None expectedNormal N/A -1 0 0 N/A fitInput polyData N/A N/A searchOrigin None N/A N/A searchRadius N/A fitInput N/A cropToSphere fitInput searchOrigin searchRadius N/A f N/A planeSegmentationFilter N/A N/A N/A f SetInput fitInput N/A N/A N/A f SetDistanceThreshold distanceThreshold N/A N/A perpendicularAxis None N/A N/A N/A N/A f SetPerpendicularConstraintEnabled True N/A N/A N/A f SetPerpendicularAxis perpendicularAxis N/A N/A N/A f SetAngleEpsilon angleEpsilon N/A N/A N/A f Update N/A origin N/A N/A f GetPlaneOrigin N/A normal N/A N/A np array N/A N/A f GetPlaneNormal N/A N/A N/A N/A np dot normal expectedNormal 0 N/A N/A normal N/A normal N/A polyData N/A shallowCopy polyData N/A points N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A dist N/A N/A np dot N/A points origin normal N/A N/A N/A vtkNumpy addNumpyToVtk polyData dist dist_to_plane N/A returnOrigin N/A N/A N/A polyData origin normal N/A N/A N/A polyData normal N/A flipNormalsWithViewDirection N/A N/A polyData viewDirection N/A N/A N/A normals N/A N/A vnp getNumpyFromVtk polyData normals N/A N/A normals N/A N/A N/A N/A np dot normals viewDirection 0 -1 N/A normalEstimation N/A N/A dataObj searchCloud searchRadius useVoxelGrid voxelGridLeafSize N/A None 0.05 False 0.05 N/A N/A f N/A N/A vtk vtkPCLNormalEstimation N/A N/A N/A f SetSearchRadius searchRadius N/A N/A N/A f SetInput dataObj N/A searchCloud N/A N/A N/A N/A f SetInput 1 searchCloud N/A N/A useVoxelGrid N/A N/A N/A N/A f SetInput 1 N/A applyVoxelGrid dataObj voxelGridLeafSize N/A N/A N/A f Update N/A dataObj N/A shallowCopy N/A N/A f GetOutput N/A N/A N/A N/A N/A dataObj GetPointData SetNormals N/A N/A N/A N/A dataObj GetPointData GetArray normals N/A dataObj N/A addCoordArraysToPolyData N/A N/A polyData N/A N/A N/A polyData N/A shallowCopy polyData N/A points N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A N/A N/A vtkNumpy addNumpyToVtk polyData N/A N/A N/A points N/A N/A N/A 0 copy x N/A N/A N/A vtkNumpy addNumpyToVtk polyData N/A N/A N/A points N/A N/A N/A 1 copy y N/A N/A N/A vtkNumpy addNumpyToVtk polyData N/A N/A N/A points N/A N/A N/A 2 copy z N/A viewFrame N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewFrame N/A viewOrigin N/A N/A viewFrame TransformPoint N/A 0.0 0.0 0.0 N/A viewX N/A N/A viewFrame TransformVector N/A 1.0 0.0 0.0 N/A viewY N/A N/A viewFrame TransformVector N/A 0.0 1.0 0.0 N/A viewZ N/A N/A viewFrame TransformVector N/A 0.0 0.0 1.0 N/A polyData N/A labelPointDistanceAlongAxis polyData viewX origin viewOrigin resultArrayName distance_along_view_x N/A polyData N/A labelPointDistanceAlongAxis polyData viewY origin viewOrigin resultArrayName distance_along_view_y N/A polyData N/A labelPointDistanceAlongAxis polyData viewZ origin viewOrigin resultArrayName distance_along_view_z N/A polyData N/A getDebugRevolutionData N/A N/A N/A N/A N/A filename N/A N/A N/A os path expanduser ~/Desktop/scans/debris-scan.vtp N/A N/A addCoordArraysToPolyData N/A N/A ioUtils readPolyData filename N/A getCurrentScanBundle N/A N/A N/A N/A N/A obj N/A N/A om findObjectByName SCANS_HALF_SWEEP N/A N/A obj N/A N/A None N/A revPolyData N/A obj polyData N/A N/A N/A revPolyData N/A N/A N/A revPolyData GetNumberOfPoints N/A N/A None N/A useVoxelGrid N/A N/A revPolyData N/A applyVoxelGrid revPolyData leafSize 0.015 N/A N/A addCoordArraysToPolyData revPolyData N/A getCurrentRevolutionData N/A N/A N/A N/A N/A revPolyData N/A N/A N/A perception _multisenseItem model revPolyData N/A N/A N/A revPolyData N/A N/A N/A revPolyData GetNumberOfPoints N/A N/A N/A getCurrentScanBundle N/A useVoxelGrid N/A N/A revPolyData N/A applyVoxelGrid revPolyData leafSize 0.015 N/A N/A addCoordArraysToPolyData revPolyData N/A getDisparityPointCloud N/A N/A decimation removeOutliers removeSize imagesChannel cameraName N/A 4 True 0 CAMERA CAMERA_LEFT N/A N/A p N/A N/A cameraview getStereoPointCloud decimation imagesChannel imagesChannel cameraName cameraName removeSize removeSize N/A N/A p N/A N/A None N/A removeOutliers N/A N/A scaling N/A N/A 10 16 N/A decimation decimation N/A p N/A labelOutliers p searchRadius 0.06 neighborsInSearchRadius scaling N/A p N/A thresholdPoints p is_outlier N/A 0.0 0.0 N/A p N/A getCurrentMapServerData N/A N/A N/A N/A N/A mapServer N/A N/A om findObjectByName Map Server N/A polyData None N/A N/A mapServer N/A N/A mapServer getProperty Visible N/A N/A polyData N/A N/A mapServer source polyData N/A N/A N/A polyData N/A N/A N/A polyData GetNumberOfPoints N/A N/A None N/A N/A addCoordArraysToPolyData polyData N/A N/A useVoxelGrid False segmentGroundPlanes N/A N/A N/A N/A N/A objs N/A N/A obj N/A N/A om getObjects N/A N/A name N/A N/A obj getProperty Name N/A N/A N/A name startswith pointcloud snapshot N/A N/A N/A N/A objs append obj N/A objs N/A sorted objs key N/A N/A N/A x N/A N/A N/A x getProperty Name N/A d N/A DebugData N/A prevHeadAxis None N/A obj objs N/A N/A name N/A N/A obj getProperty Name N/A N/A ----- %s--------- name N/A head axis: N/A obj headAxis N/A N/A origin normal groundPoints _ N/A segmentGround N/A obj polyData N/A ground normal: normal N/A N/A showPolyData groundPoints N/A name  ground points visible False N/A a N/A N/A np array N/A 0 0 1 N/A b N/A N/A np array normal N/A diff N/A N/A math degrees N/A N/A math acos N/A N/A N/A np dot a b N/A N/A N/A N/A np linalg norm a N/A N/A N/A np linalg norm b N/A N/A diff 90 N/A N/A N/A 180 diff N/A N/A diff N/A N/A prevHeadAxis None N/A N/A a prevHeadAxis N/A b N/A N/A np array N/A obj headAxis N/A diff N/A N/A math degrees N/A N/A math acos N/A N/A N/A np dot a b N/A N/A N/A N/A np linalg norm a N/A N/A N/A np linalg norm b N/A N/A diff 90 N/A N/A N/A 180 diff N/A N/A diff N/A prevHeadAxis N/A N/A np array N/A obj headAxis N/A N/A N/A d addLine N/A 0 0 0 normal N/A N/A updatePolyData N/A N/A d getPolyData normals N/A extractCircle N/A N/A polyData distanceThreshold radiusLimit N/A 0.04 None N/A N/A circleFit N/A N/A vtk vtkPCLSACSegmentationCircle N/A N/A N/A circleFit SetDistanceThreshold distanceThreshold N/A N/A N/A circleFit SetInput polyData N/A N/A radiusLimit None N/A N/A N/A N/A circleFit SetRadiusLimit radiusLimit N/A N/A N/A circleFit SetRadiusConstraintEnabled True N/A N/A N/A circleFit Update N/A polyData N/A thresholdPoints N/A N/A circleFit GetOutput ransac_labels N/A 1.0 1.0 N/A N/A polyData circleFit N/A removeMajorPlane N/A N/A polyData distanceThreshold N/A 0.02 N/A N/A f N/A planeSegmentationFilter N/A N/A N/A f SetInput polyData N/A N/A N/A f SetDistanceThreshold distanceThreshold N/A N/A N/A f Update N/A polyData N/A thresholdPoints N/A N/A f GetOutput ransac_labels N/A 0.0 0.0 N/A N/A polyData f N/A removeGroundSimple N/A N/A polyData groundThickness sceneHeightFromGround N/A 0.02 0.05 N/A N/A  Simple ground plane removal algorithm. Uses ground height
        and does simple z distance filtering.
        Suitable for noisy data e.g. kinect/stereo camera
        (Default args should be relaxed, filtering simplfied)
     N/A groundHeight N/A N/A N/A N/A SegmentationContext getGlobalInstance getGroundHeight N/A origin N/A 0 0 groundHeight N/A normal N/A 0 0 1 N/A points N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A dist N/A N/A np dot N/A points origin normal N/A N/A N/A vtkNumpy addNumpyToVtk polyData dist dist_to_plane N/A groundPoints N/A thresholdPoints polyData dist_to_plane N/A N/A N/A groundThickness 2.0 N/A groundThickness 2.0 N/A scenePoints N/A thresholdPoints polyData dist_to_plane N/A sceneHeightFromGround 100 N/A N/A groundPoints scenePoints N/A removeGround N/A N/A polyData groundThickness sceneHeightFromGround N/A 0.02 0.05 N/A N/A N/A origin normal groundPoints scenePoints N/A segmentGround polyData groundThickness sceneHeightFromGround N/A N/A groundPoints scenePoints N/A generateFeetForValve N/A N/A N/A N/A N/A aff N/A N/A om findObjectByName valve affordance N/A aff N/A params N/A aff params N/A origin N/A N/A np array N/A params N/A origin N/A N/A origin N/A 2 0.0 N/A xaxis N/A N/A params N/A axis N/A zaxis N/A N/A np array N/A 0 0 1 N/A yaxis N/A N/A np cross zaxis xaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A stanceWidth 0.2 N/A stanceRotation 25.0 N/A stanceOffset N/A -1.0 -0.5 0.0 N/A valveFrame N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A valveFrame PostMultiply N/A N/A N/A valveFrame Translate origin N/A N/A stanceFrame lfootFrame rfootFrame N/A getFootFramesFromReferenceFrame valveFrame stanceWidth stanceRotation stanceOffset N/A N/A showFrame boardFrame board ground frame parent aff scale 0.15 visible False N/A N/A showFrame lfootFrame lfoot frame parent aff scale 0.15 N/A N/A showFrame rfootFrame rfoot frame parent aff scale 0.15 N/A generateFeetForDebris N/A N/A N/A N/A N/A aff N/A N/A om findObjectByName board A N/A N/A aff N/A N/A N/A params N/A aff params N/A origin N/A N/A np array N/A params N/A origin N/A origin N/A N/A origin N/A N/A N/A params N/A zaxis N/A params N/A zwidth 2.0 N/A N/A N/A params N/A xaxis N/A params N/A xwidth 2.0 N/A N/A origin N/A 2 0.0 N/A yaxis N/A params N/A zaxis N/A zaxis N/A N/A np array N/A 0 0 1 N/A xaxis N/A N/A np cross yaxis zaxis N/A stanceWidth 0.35 N/A stanceRotation 0.0 N/A stanceOffset N/A -0.48 -0.08 0 N/A boardFrame N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A boardFrame PostMultiply N/A N/A N/A boardFrame Translate origin N/A N/A stanceFrame lfootFrame rfootFrame N/A getFootFramesFromReferenceFrame boardFrame stanceWidth stanceRotation stanceOffset N/A N/A showFrame boardFrame board ground frame parent aff scale 0.15 visible False N/A lfoot N/A showFrame lfootFrame lfoot frame parent aff scale 0.15 N/A rfoot N/A showFrame rfootFrame rfoot frame parent aff scale 0.15 N/A obj N/A lfoot rfoot N/A N/A N/A N/A obj addToView N/A N/A app getDRCView N/A generateFeetForWye N/A N/A N/A N/A N/A aff N/A N/A om findObjectByName wye points N/A N/A aff N/A N/A N/A params N/A aff params N/A origin N/A N/A np array N/A params N/A origin N/A N/A origin N/A 2 0.0 N/A yaxis N/A params N/A xaxis N/A xaxis N/A N/A params N/A zaxis N/A zaxis N/A N/A np cross xaxis yaxis N/A stanceWidth 0.2 N/A stanceRotation 0.0 N/A stanceOffset N/A -0.48 -0.08 0 N/A affGroundFrame N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A affGroundFrame PostMultiply N/A N/A N/A affGroundFrame Translate origin N/A N/A stanceFrame lfootFrame rfootFrame N/A getFootFramesFromReferenceFrame affGroundFrame stanceWidth stanceRotation stanceOffset N/A N/A showFrame affGroundFrame affordance ground frame parent aff scale 0.15 visible False N/A lfoot N/A showFrame lfootFrame lfoot frame parent aff scale 0.15 N/A rfoot N/A showFrame rfootFrame rfoot frame parent aff scale 0.15 N/A obj N/A lfoot rfoot N/A N/A N/A N/A obj addToView N/A N/A app getDRCView N/A getFootFramesFromReferenceFrame N/A N/A referenceFrame stanceWidth stanceRotation stanceOffset N/A N/A N/A footHeight 0.0745342 N/A ref N/A N/A vtk vtkTransform N/A N/A N/A ref SetMatrix N/A N/A referenceFrame GetMatrix N/A stanceFrame N/A N/A vtk vtkTransform N/A N/A N/A stanceFrame PostMultiply N/A N/A N/A stanceFrame RotateZ stanceRotation N/A N/A N/A stanceFrame Translate stanceOffset N/A N/A N/A stanceFrame Concatenate ref N/A lfootFrame N/A N/A vtk vtkTransform N/A N/A N/A lfootFrame PostMultiply N/A N/A N/A lfootFrame Translate 0 N/A stanceWidth 2.0 footHeight N/A N/A N/A lfootFrame Concatenate stanceFrame N/A rfootFrame N/A N/A vtk vtkTransform N/A N/A N/A rfootFrame PostMultiply N/A N/A N/A rfootFrame Translate 0 N/A N/A stanceWidth 2.0 footHeight N/A N/A N/A rfootFrame Concatenate stanceFrame N/A N/A stanceFrame lfootFrame rfootFrame N/A poseFromFrame N/A N/A frame N/A N/A N/A trans N/A N/A lcmbotcore vector_3d_t N/A N/A N/A trans x N/A trans y N/A trans z N/A N/A frame GetPosition N/A wxyz N/A range 4 N/A N/A N/A N/A N/A perception drc vtkMultisenseSource GetBotQuaternion frame wxyz N/A quat N/A N/A lcmbotcore quaternion_t N/A N/A N/A quat w N/A quat x N/A quat y N/A quat z wxyz N/A pose N/A N/A lcmbotcore position_3d_t N/A N/A pose translation trans N/A N/A pose rotation quat N/A pose N/A cropToPlane N/A N/A polyData origin normal threshold N/A N/A N/A polyData N/A shallowCopy polyData N/A normal N/A normal N/A N/A N/A np linalg norm normal N/A points N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A dist N/A N/A np dot N/A points origin normal N/A N/A N/A vtkNumpy addNumpyToVtk polyData dist dist_to_plane N/A cropped N/A thresholdPoints polyData dist_to_plane threshold N/A N/A cropped polyData N/A createLine N/A N/A blockDimensions p1 p2 N/A N/A N/A sliceWidth N/A N/A N/A N/A N/A N/A np array blockDimensions max 2.0 0.02 N/A sliceThreshold N/A N/A sliceWidth sliceWidth N/A N/A N/A p1 N/A 0 N/A p2 N/A 0 N/A N/A N/A p1 p2 N/A p2 p1 N/A N/A _ worldPt1 N/A getRayFromDisplayPoint N/A N/A app getCurrentRenderView p1 N/A N/A _ worldPt2 N/A getRayFromDisplayPoint N/A N/A app getCurrentRenderView p2 N/A cameraPt N/A N/A np array N/A N/A N/A N/A N/A N/A app getCurrentRenderView camera GetPosition N/A leftRay N/A worldPt1 cameraPt N/A rightRay N/A worldPt2 cameraPt N/A middleRay N/A N/A leftRay rightRay 2.0 N/A d N/A DebugData N/A N/A N/A d addLine cameraPt worldPt1 N/A N/A N/A d addLine cameraPt worldPt2 N/A N/A N/A d addLine worldPt1 worldPt2 N/A N/A N/A d addLine cameraPt N/A cameraPt middleRay N/A N/A updatePolyData N/A N/A d getPolyData line annotation parent N/A getDebugFolder visible False N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A inputObj N/A N/A polyData N/A shallowCopy N/A inputObj polyData N/A N/A polyData N/A getCurrentRevolutionData N/A origin cameraPt N/A normal N/A N/A np cross rightRay leftRay N/A leftNormal N/A N/A np cross normal leftRay N/A rightNormal N/A N/A np cross rightRay normal N/A normal N/A N/A N/A np linalg norm normal N/A leftNormal N/A N/A N/A np linalg norm leftNormal N/A rightNormal N/A N/A N/A np linalg norm rightNormal N/A middleRay N/A N/A N/A np linalg norm middleRay N/A N/A cropped polyData N/A cropToPlane polyData origin normal sliceThreshold N/A N/A updatePolyData polyData slice dist parent N/A getDebugFolder colorByName dist_to_plane colorByRange N/A -0.5 0.5 visible False N/A N/A updatePolyData cropped slice parent N/A getDebugFolder colorByName dist_to_plane visible False N/A N/A cropped _ N/A cropToPlane cropped origin leftNormal N/A -1000000.0 0 N/A N/A cropped _ N/A cropToPlane cropped origin rightNormal N/A -1000000.0 0 N/A N/A updatePolyData cropped slice segment parent N/A getDebugFolder colorByName dist_to_plane visible False N/A N/A planePoints planeNormal N/A applyPlaneFit cropped distanceThreshold 0.005 perpendicularAxis middleRay angleEpsilon N/A N/A math radians 60 N/A planePoints N/A thresholdPoints planePoints dist_to_plane N/A -0.005 0.005 N/A N/A updatePolyData planePoints board segmentation parent N/A getDebugFolder color N/A getRandomColor visible False N/A 
    names = ['board A', 'board B', 'board C', 'board D', 'board E', 'board F', 'board G', 'board H', 'board I']
    for name in names:
        if not om.findObjectByName(name):
            break
    else:
        name = 'board'
     N/A name board N/A N/A segmentBlockByTopPlane planePoints blockDimensions expectedNormal N/A middleRay expectedXAxis middleRay edgeSign -1 name name N/A updateBlockAffordances N/A N/A polyData N/A None N/A N/A obj N/A N/A om getObjects N/A N/A N/A isinstance obj BoxAffordanceItem N/A N/A N/A refit N/A N/A obj getProperty Name N/A N/A N/A N/A om removeFromObjectModel obj N/A obj N/A N/A om getObjects N/A N/A N/A isinstance obj BoxAffordanceItem N/A N/A N/A updateBlockFit obj polyData N/A updateBlockFit N/A N/A affordanceObj polyData N/A None N/A N/A N/A N/A affordanceObj updateParamsFromActorTransform N/A name N/A N/A N/A affordanceObj getProperty Name  refit N/A origin N/A N/A affordanceObj params N/A origin N/A normal N/A N/A affordanceObj params N/A yaxis N/A edgePerpAxis N/A N/A affordanceObj params N/A xaxis N/A blockDimensions N/A N/A N/A affordanceObj params N/A xwidth N/A N/A affordanceObj params N/A ywidth N/A N/A polyData None N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A shallowCopy N/A inputObj polyData N/A cropThreshold 0.1 N/A cropped polyData N/A N/A cropped _ N/A cropToPlane cropped origin normal N/A N/A cropThreshold cropThreshold N/A N/A cropped _ N/A cropToPlane cropped origin edgePerpAxis N/A N/A cropThreshold cropThreshold N/A N/A updatePolyData cropped refit search region parent N/A getDebugFolder visible False N/A cropped N/A extractLargestCluster cropped N/A N/A planePoints planeNormal N/A applyPlaneFit cropped distanceThreshold 0.005 perpendicularAxis normal angleEpsilon N/A N/A math radians 10 N/A planePoints N/A thresholdPoints planePoints dist_to_plane N/A -0.005 0.005 N/A N/A updatePolyData planePoints refit board segmentation parent N/A getDebugFolder visible False N/A refitObj N/A segmentBlockByTopPlane planePoints blockDimensions expectedNormal normal expectedXAxis edgePerpAxis edgeSign -1 name name N/A refitOrigin N/A N/A np array N/A N/A refitObj params N/A origin N/A refitLength N/A N/A refitObj params N/A zwidth N/A refitZAxis N/A N/A refitObj params N/A zaxis N/A refitEndPoint1 N/A refitOrigin N/A N/A refitZAxis refitLength 2.0 N/A originalLength N/A N/A affordanceObj params N/A zwidth N/A correctedOrigin N/A refitEndPoint1 N/A N/A refitZAxis originalLength 2.0 N/A originDelta N/A correctedOrigin refitOrigin N/A N/A N/A refitObj params N/A zwidth originalLength N/A N/A N/A N/A refitObj polyData DeepCopy N/A affordanceObj polyData N/A N/A N/A N/A N/A N/A refitObj actor GetUserTransform Translate originDelta N/A N/A N/A refitObj updateParamsFromActorTransform N/A startInteractiveLineDraw N/A N/A blockDimensions N/A N/A N/A picker N/A LineDraw N/A N/A app getCurrentRenderView N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial createLine blockDimensions N/A startLeverValveSegmentation N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 2 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines False N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentLeverValve N/A refitValveAffordance N/A N/A aff point1 origin normal N/A N/A N/A xaxis N/A N/A aff params N/A xaxis N/A yaxis N/A N/A aff params N/A yaxis N/A zaxis N/A N/A aff params N/A zaxis N/A origin N/A N/A aff params N/A origin N/A zaxis normal N/A xaxis N/A 0 0 1 N/A yaxis N/A N/A np cross zaxis xaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate origin N/A N/A N/A N/A N/A N/A aff actor GetUserTransform SetMatrix N/A N/A t GetMatrix N/A N/A N/A aff updateParamsFromActorTransform N/A segmentValve N/A N/A expectedValveRadius point1 point2 N/A N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A viewPlaneNormal N/A N/A np array N/A N/A N/A N/A N/A getSegmentationView camera GetViewPlaneNormal N/A N/A polyData _ wallNormal N/A applyPlaneFit polyData expectedNormal viewPlaneNormal searchOrigin point1 searchRadius 0.2 angleEpsilon 0.7 returnOrigin True N/A wallPoints N/A thresholdPoints polyData dist_to_plane N/A -0.01 0.01 N/A N/A updatePolyData wallPoints wall points parent N/A getDebugFolder visible False N/A N/A polyData _ _ N/A applyPlaneFit polyData expectedNormal wallNormal searchOrigin point2 searchRadius expectedValveRadius angleEpsilon 0.2 returnOrigin True N/A valveCluster N/A thresholdPoints polyData dist_to_plane N/A -0.01 0.01 N/A valveCluster N/A cropToSphere valveCluster point2 N/A expectedValveRadius 2 N/A valveCluster N/A extractLargestCluster valveCluster minClusterSize 1 N/A N/A updatePolyData valveCluster valve cluster parent N/A getDebugFolder visible False N/A origin N/A N/A np average N/A N/A vtkNumpy getNumpyFromVtk valveCluster Points axis 0 N/A zaxis wallNormal N/A xaxis N/A 0 0 1 N/A yaxis N/A N/A np cross zaxis xaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate origin N/A zwidth 0.03 N/A radius expectedValveRadius N/A d N/A DebugData N/A N/A N/A d addLine N/A N/A np array N/A 0 0 N/A N/A zwidth 2.0 N/A N/A np array N/A 0 0 N/A zwidth 2.0 radius radius N/A name valve affordance N/A obj N/A showPolyData N/A N/A d getPolyData name cls FrameAffordanceItem parent affordances color N/A 0 1 0 N/A N/A N/A N/A obj actor SetUserTransform t N/A N/A N/A obj addToView N/A N/A app getDRCView N/A N/A N/A refitWallCallbacks append N/A N/A functools partial refitValveAffordance obj N/A params N/A dict axis zaxis radius radius length zwidth origin origin xaxis xaxis yaxis yaxis zaxis zaxis xwidth radius ywidth radius zwidth zwidth otdf_type steering_cyl friendly_name valve N/A N/A N/A obj setAffordanceParams params N/A N/A N/A obj updateParamsFromActorTransform N/A frameObj N/A showFrame N/A N/A N/A obj actor GetUserTransform N/A name  frame parent obj scale radius visible False N/A N/A N/A frameObj addToView N/A N/A app getDRCView N/A segmentValveByBoundingBox N/A N/A polyData searchPoint N/A N/A N/A viewDirection N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewDirection N/A polyData N/A cropToSphere polyData searchPoint radius 0.6 N/A polyData N/A applyVoxelGrid polyData leafSize 0.015 N/A polyData N/A labelDistanceToLine polyData searchPoint N/A N/A N/A np array searchPoint N/A N/A np array N/A 0 0 1 N/A searchRegion N/A thresholdPoints polyData distance_to_line N/A 0.0 0.2 N/A N/A updatePolyData searchRegion valve tube search region parent N/A getDebugFolder color N/A 1 0 0 visible False N/A N/A _ origin normal N/A applyPlaneFit searchRegion distanceThreshold 0.01 perpendicularAxis viewDirection angleEpsilon N/A N/A math radians 30 expectedNormal N/A viewDirection returnOrigin True N/A polyData N/A labelPointDistanceAlongAxis polyData normal origin N/A searchRegion N/A thresholdPoints polyData distance_along_axis N/A -0.05 0.05 N/A N/A updatePolyData searchRegion valve plane search region parent N/A getDebugFolder colorByName distance_along_axis visible False N/A valvePoints N/A extractLargestCluster searchRegion minClusterSize 1 N/A N/A updatePolyData valvePoints valve cluster parent N/A getDebugFolder color N/A 0 1 0 visible False N/A N/A valvePoints _ N/A applyPlaneFit valvePoints expectedNormal normal perpendicularAxis normal distanceThreshold 0.01 N/A valveFit N/A thresholdPoints valvePoints dist_to_plane N/A -0.01 0.01 N/A N/A updatePolyData valveFit valve cluster parent N/A getDebugFolder color N/A 0 1 0 visible False N/A points N/A N/A vtkNumpy getNumpyFromVtk valveFit Points N/A zvalues N/A N/A N/A points N/A N/A N/A 2 copy N/A minZ N/A N/A np min zvalues N/A maxZ N/A N/A np max zvalues N/A tubeRadius 0.017 N/A radius N/A N/A float N/A N/A maxZ minZ 2.0 tubeRadius N/A fields N/A makePolyDataFields valveFit N/A origin N/A N/A np array N/A N/A N/A fields frame GetPosition N/A zaxis N/A 0 0 1 N/A xaxis normal N/A yaxis N/A N/A np cross zaxis xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate origin N/A pose N/A N/A transformUtils poseFromTransform t N/A desc N/A dict classname CapsuleRingAffordanceItem Name valve uuid N/A newUUID pose pose Color N/A 0 1 0 Radius radius Segments 20 N/A N/A desc N/A Tube Radius tubeRadius N/A obj N/A N/A affordanceManager newAffordanceFromDescription desc N/A N/A obj params N/A dict radius radius N/A obj N/A segmentDoorPlane N/A N/A polyData doorPoint stanceFrame N/A N/A N/A doorPoint N/A N/A np array doorPoint N/A doorBand 1.5 N/A polyData N/A cropToLineSegment polyData N/A doorPoint N/A 0.0 0.0 N/A doorBand 2 N/A doorPoint N/A 0.0 0.0 N/A doorBand 2 N/A N/A fitPoints normal N/A applyLocalPlaneFit polyData doorPoint searchRadius 0.2 searchRadiusEnd 1.0 removeGroundFirst False N/A N/A updatePolyData fitPoints door points visible False color N/A 0 1 0 N/A viewDirection N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewDirection N/A N/A N/A N/A np dot normal viewDirection 0 N/A N/A normal N/A normal N/A origin N/A computeCentroid fitPoints N/A groundHeight N/A N/A N/A stanceFrame GetPosition N/A 2 N/A origin N/A N/A origin N/A 0 N/A origin N/A 1 groundHeight N/A xaxis N/A normal N/A zaxis N/A 0 0 1 N/A yaxis N/A N/A np cross zaxis xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate origin N/A t N/A segmentValveByRim N/A N/A polyData rimPoint1 rimPoint2 N/A N/A N/A viewDirection N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewDirection N/A yaxis N/A N/A N/A np array rimPoint2 N/A N/A np array rimPoint1 N/A zaxis N/A 0 0 1 N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A N/A N/A N/A np dot xaxis viewDirection 0 N/A N/A xaxis N/A xaxis N/A yaxis N/A N/A np cross zaxis xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A origin N/A N/A N/A N/A np array rimPoint2 N/A N/A np array rimPoint1 2.0 N/A polyData N/A labelPointDistanceAlongAxis polyData xaxis origin N/A polyData N/A thresholdPoints polyData distance_along_axis N/A -0.05 0.05 N/A N/A updatePolyData polyData valve plane region parent N/A getDebugFolder colorByName distance_along_axis visible False N/A polyData N/A cropToSphere polyData origin radius 0.4 N/A polyData N/A applyVoxelGrid polyData leafSize 0.015 N/A N/A updatePolyData polyData valve search region parent N/A getDebugFolder color N/A 1 0 0 visible False N/A valveFit N/A extractLargestCluster polyData minClusterSize 1 N/A N/A updatePolyData valveFit valve cluster parent N/A getDebugFolder color N/A 0 1 0 visible False N/A points N/A N/A vtkNumpy getNumpyFromVtk valveFit Points N/A zvalues N/A N/A N/A points N/A N/A N/A 2 copy N/A minZ N/A N/A np min zvalues N/A maxZ N/A N/A np max zvalues N/A tubeRadius 0.017 N/A radius N/A N/A float N/A N/A maxZ minZ 2.0 tubeRadius N/A fields N/A makePolyDataFields valveFit N/A origin N/A N/A np array N/A N/A N/A fields frame GetPosition N/A N/A N/A vis updatePolyData N/A transformPolyData N/A fields box N/A fields frame valve cluster bounding box visible False N/A 
    zaxis = [0,0,1]
    xaxis = normal
    yaxis = np.cross(zaxis, xaxis)
    yaxis /= np.linalg.norm(yaxis)
    xaxis = np.cross(yaxis, zaxis)
    xaxis /= np.linalg.norm(xaxis)
     N/A radius N/A N/A N/A N/A np max N/A fields dims 2.0 tubeRadius N/A proj N/A N/A N/A np abs N/A N/A np dot xaxis axis N/A axis N/A fields axes N/A xaxisNew N/A N/A fields axes N/A N/A N/A np argmax proj N/A N/A N/A N/A np dot xaxisNew xaxis 0 N/A N/A xaxisNew N/A xaxisNew N/A xaxis xaxisNew N/A yaxis N/A N/A np cross zaxis xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate origin N/A pose N/A N/A transformUtils poseFromTransform t N/A desc N/A dict classname CapsuleRingAffordanceItem Name valve uuid N/A newUUID pose pose Color N/A 0 1 0 Radius N/A float radius Segments 20 N/A N/A desc N/A Tube Radius tubeRadius N/A obj N/A N/A affordanceManager newAffordanceFromDescription desc N/A N/A obj params N/A dict radius radius N/A obj N/A segmentValveByWallPlane N/A N/A expectedValveRadius point1 point2 N/A N/A N/A centerPoint N/A N/A point1 point2 2.0 N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A N/A _ polyData N/A removeGround polyData N/A viewDirection N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewDirection N/A N/A polyData origin normal N/A applyPlaneFit polyData expectedNormal N/A viewDirection returnOrigin True N/A perpLine N/A N/A np cross N/A point2 point1 normal N/A N/A point3 point4 N/A N/A centerPoint N/A perpLine 2.0 N/A centerPoint N/A perpLine 2.0 N/A d N/A DebugData N/A N/A N/A d addLine point1 point2 N/A N/A N/A d addLine point3 point4 N/A N/A updatePolyData N/A N/A d getPolyData crop lines parent N/A getDebugFolder visible False N/A wallPoints N/A thresholdPoints polyData dist_to_plane N/A -0.01 0.01 N/A N/A updatePolyData wallPoints valve wall parent N/A getDebugFolder visible False N/A searchRegion N/A thresholdPoints polyData dist_to_plane N/A 0.05 0.5 N/A searchRegion N/A cropToLineSegment searchRegion point1 point2 N/A searchRegion N/A cropToLineSegment searchRegion point3 point4 N/A N/A updatePolyData searchRegion valve search region parent N/A getDebugFolder color N/A 1 0 0 visible False N/A searchRegionSpokes N/A shallowCopy searchRegion N/A N/A searchRegion origin _ N/A applyPlaneFit searchRegion expectedNormal normal perpendicularAxis normal returnOrigin True N/A searchRegion N/A thresholdPoints searchRegion dist_to_plane N/A -0.015 0.015 N/A N/A updatePolyData searchRegion valve search region 2 parent N/A getDebugFolder color N/A 0 1 0 visible False N/A largestCluster N/A extractLargestCluster searchRegion minClusterSize 1 N/A N/A updatePolyData largestCluster valve cluster parent N/A getDebugFolder color N/A 0 1 0 visible False N/A radiusLimit N/A expectedValveRadius N/A N/A expectedValveRadius 0.01 N/A expectedValveRadius 0.01 None N/A N/A polyData circleFit N/A extractCircle largestCluster distanceThreshold 0.01 radiusLimit radiusLimit N/A N/A updatePolyData polyData circle fit parent N/A getDebugFolder visible False N/A radius N/A N/A circleFit GetCircleRadius N/A origin N/A N/A np array N/A N/A circleFit GetCircleOrigin N/A circleNormal N/A N/A np array N/A N/A circleFit GetCircleNormal N/A circleNormal N/A circleNormal N/A N/A N/A np linalg norm circleNormal N/A N/A N/A N/A np dot circleNormal normal 0 N/A N/A circleNormal -1 N/A circleNormal normal N/A radius expectedValveRadius N/A d N/A DebugData N/A N/A N/A d addLine N/A origin N/A normal radius N/A origin N/A normal radius N/A N/A N/A d addCircle origin circleNormal radius N/A N/A updatePolyData N/A N/A d getPolyData valve axes parent N/A getDebugFolder visible False N/A zaxis N/A circleNormal N/A xaxis N/A 0 0 1 N/A yaxis N/A N/A np cross zaxis xaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A t N/A getTransformFromAxes zaxis N/A yaxis xaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate origin N/A N/A 1 0 N/A N/A searchRegionSpokes N/A labelDistanceToLine searchRegionSpokes origin N/A N/A origin circleNormal N/A searchRegionSpokes N/A thresholdPoints searchRegionSpokes distance_to_line N/A 0.05 N/A radius 0.04 N/A N/A updatePolyData searchRegionSpokes valve spoke search parent N/A getDebugFolder visible False N/A searchRegionSpokesLocal N/A transformPolyData searchRegionSpokes N/A N/A t GetLinearInverse N/A points N/A N/A vtkNumpy getNumpyFromVtk searchRegionSpokesLocal Points N/A spoke_angle N/A findValveSpokeAngle points N/A N/A spoke_angle 0 N/A spokeAngleTransform N/A N/A transformUtils frameFromPositionAndRPY N/A 0 0 0 N/A 0 0 spoke_angle N/A spokeTransform N/A N/A transformUtils copyFrame t N/A N/A N/A spokeAngleTransform Concatenate spokeTransform N/A spokeObj N/A showFrame spokeAngleTransform spoke frame parent N/A getDebugFolder visible False scale radius N/A N/A N/A spokeObj addToView N/A N/A app getDRCView N/A t spokeAngleTransform N/A tubeRadius 0.017 N/A pose N/A N/A transformUtils poseFromTransform t N/A desc N/A dict classname CapsuleRingAffordanceItem Name valve uuid N/A newUUID pose pose Color N/A 0 1 0 Radius N/A float radius Segments 20 N/A N/A desc N/A Tube Radius tubeRadius N/A obj N/A N/A affordanceManager newAffordanceFromDescription desc N/A N/A obj params N/A dict radius radius N/A showHistogram N/A N/A polyData arrayName numberOfBins N/A 100 N/A N/A matplotlib.pyplot plt N/A x N/A N/A vnp getNumpyFromVtk polyData arrayName N/A N/A hist bins N/A N/A np histogram x bins numberOfBins N/A width N/A 0.7 N/A N/A bins N/A 1 N/A bins N/A 0 N/A center N/A N/A N/A bins N/A -1 N/A bins N/A 1 2 N/A N/A N/A plt bar center hist align center width width N/A N/A N/A plt show N/A N/A N/A bins N/A N/A N/A np argmax hist N/A N/A N/A bins N/A 1 N/A bins N/A 0 2.0 N/A showTable N/A N/A table parent N/A N/A N/A 
    explictly draw a table and its frames
     N/A pose N/A N/A transformUtils poseFromTransform N/A table frame N/A desc N/A dict classname MeshAffordanceItem Name table Color N/A 0 1 0 pose pose N/A aff N/A N/A affordanceManager newAffordanceFromDescription desc N/A N/A N/A aff setPolyData N/A table mesh N/A tableBox N/A N/A vis showPolyData N/A table box table box parent aff color N/A 0 1 0 visible False N/A N/A N/A N/A tableBox actor SetUserTransform N/A table frame N/A applyKmeansLabel N/A N/A polyData arrayName numberOfClusters whiten N/A False N/A N/A scipy.cluster N/A ar N/A N/A N/A N/A vnp getNumpyFromVtk polyData arrayName copy N/A whiten N/A N/A N/A N/A N/A N/A scipy cluster vq whiten ar N/A N/A codes disturbances N/A N/A N/A N/A scipy cluster vq kmeans ar numberOfClusters N/A N/A N/A arrayName normals N/A numberOfClusters 2 N/A N/A v1 N/A codes N/A 0 N/A v2 N/A codes N/A 1 N/A v1 N/A N/A N/A np linalg norm v1 N/A v2 N/A N/A N/A np linalg norm v2 N/A angle N/A N/A np arccos N/A N/A np dot v1 v2 N/A angle between normals: N/A N/A np degrees angle N/A N/A code distance N/A N/A N/A N/A scipy cluster vq vq ar codes N/A polyData N/A shallowCopy polyData N/A N/A N/A vnp addNumpyToVtk polyData code N/A %s_kmeans_label arrayName N/A polyData N/A findValveSpokeAngle N/A N/A points N/A N/A N/A 
    Determine the location of the valve spoke angle
    By binning the spoke returns. returns angle in degrees
     N/A angle N/A N/A np degrees N/A N/A np arctan2 N/A points N/A N/A N/A 1 N/A points N/A N/A N/A 0 N/A qq N/A N/A N/A np where N/A angle 0 N/A 0 N/A N/A angle N/A qq 360 N/A angle N/A N/A np mod angle 120 N/A bins N/A range 0 130 10 N/A N/A freq bins N/A N/A np histogram angle bins N/A amax N/A N/A np argmax freq N/A spoke_angle N/A N/A bins N/A amax 5 N/A spoke_angle N/A findWallCenter N/A N/A polyData removeGroundMethod N/A removeGround N/A N/A 
    Find a frame at the center of the valve wall
    X&Y: average of points on the wall plane
    Z: 4 feet off the ground (determined using robot's feet
    Orientation: z-normal into plane, y-axis horizontal
     N/A N/A _ polyData N/A removeGroundMethod polyData N/A viewDirection N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewDirection N/A N/A polyData origin normal N/A applyPlaneFit polyData expectedNormal N/A viewDirection returnOrigin True N/A wallPoints N/A thresholdPoints polyData dist_to_plane N/A -0.01 0.01 N/A wallPoints N/A applyVoxelGrid wallPoints leafSize 0.03 N/A wallPoints N/A extractLargestCluster wallPoints minClusterSize 100 N/A N/A updatePolyData wallPoints auto valve wall parent N/A getDebugFolder visible False N/A xvalues N/A N/A N/A vtkNumpy getNumpyFromVtk wallPoints Points N/A N/A N/A 0 N/A yvalues N/A N/A N/A vtkNumpy getNumpyFromVtk wallPoints Points N/A N/A N/A 1 N/A xcenter N/A N/A N/A N/A np max xvalues N/A N/A np min xvalues 2 N/A ycenter N/A N/A N/A N/A np max yvalues N/A N/A np min yvalues 2 N/A zcenter N/A N/A N/A N/A N/A SegmentationContext getGlobalInstance getGroundHeight 1.2192 N/A point1 N/A N/A np array N/A xcenter ycenter zcenter N/A zaxis N/A normal N/A xaxis N/A 0 0 1 N/A yaxis N/A N/A np cross zaxis xaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate point1 N/A normalObj N/A showFrame t valve wall frame parent N/A getDebugFolder visible False N/A N/A N/A normalObj addToView N/A N/A app getDRCView N/A t N/A segmentValveWallAuto N/A N/A expectedValveRadius mode removeGroundMethod N/A 0.195 both removeGround N/A N/A 
    Automatically segment a valve hanging in front of the wall at the center
     N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A t N/A findWallCenter polyData removeGroundMethod N/A valve_point1 N/A 0 0.6 0 N/A valveTransform1 N/A N/A transformUtils frameFromPositionAndRPY valve_point1 N/A 0 0 0 N/A N/A N/A valveTransform1 Concatenate t N/A point1 N/A N/A np array N/A N/A valveTransform1 GetPosition N/A valve_point2 N/A 0 -0.6 0 N/A valveTransform2 N/A N/A transformUtils frameFromPositionAndRPY valve_point2 N/A 0 0 0 N/A N/A N/A valveTransform2 Concatenate t N/A point2 N/A N/A np array N/A N/A valveTransform2 GetPosition N/A valve_point3 N/A 0 1.0 0 N/A valveTransform3 N/A N/A transformUtils frameFromPositionAndRPY valve_point3 N/A 0 0 0 N/A N/A N/A valveTransform3 Concatenate t N/A point3 N/A N/A valveTransform3 GetPosition N/A d N/A DebugData N/A N/A N/A d addSphere point2 radius 0.01 N/A N/A N/A d addSphere point1 radius 0.03 N/A N/A N/A d addSphere point3 radius 0.01 N/A N/A updatePolyData N/A N/A d getPolyData auto wall points parent N/A getDebugFolder visible False N/A N/A mode valve N/A N/A N/A segmentValveByWallPlane expectedValveRadius point1 point2 N/A N/A N/A mode lever N/A N/A N/A segmentLeverByWallPlane point1 point3 N/A N/A N/A mode both N/A N/A N/A segmentValveByWallPlane expectedValveRadius point1 point2 N/A N/A segmentLeverByWallPlane point1 point3 N/A N/A N/A Exception N/A unexpected segmentation mode:  mode N/A segmentLeverByWallPlane N/A N/A point1 point2 N/A N/A N/A 
    determine the position (including rotation of a lever near a wall
    input is as for the valve - to points on the wall either side of the lever
     N/A centerPoint N/A N/A point1 point2 2.0 N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A viewDirection N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewDirection N/A N/A polyData origin normal N/A applyPlaneFit polyData expectedNormal N/A viewDirection returnOrigin True N/A perpLine N/A N/A np cross N/A point2 point1 N/A normal N/A N/A point3 point4 N/A N/A centerPoint N/A perpLine 2.0 N/A centerPoint N/A perpLine 2.0 N/A d N/A DebugData N/A N/A N/A d addLine point1 point2 N/A N/A N/A d addLine point3 point4 N/A N/A updatePolyData N/A N/A d getPolyData lever crop lines parent N/A getDebugFolder visible False N/A wallPoints N/A thresholdPoints polyData dist_to_plane N/A -0.01 0.01 N/A N/A updatePolyData wallPoints lever valve wall parent N/A getDebugFolder visible False N/A searchRegion N/A thresholdPoints polyData dist_to_plane N/A 0.12 0.2 N/A searchRegion N/A cropToLineSegment searchRegion point1 point2 N/A searchRegion N/A cropToLineSegment searchRegion point3 point4 N/A N/A updatePolyData searchRegion lever search region parent N/A getDebugFolder color N/A 1 0 0 visible False N/A N/A linePoint lineDirection _ N/A applyLineFit searchRegion distanceThreshold 0.02 N/A d N/A DebugData N/A N/A N/A d addSphere linePoint radius 0.02 N/A N/A updatePolyData N/A N/A d getPolyData lever point parent N/A getDebugFolder visible False N/A pts N/A N/A vtkNumpy getNumpyFromVtk searchRegion Points N/A dists N/A N/A np dot N/A pts linePoint lineDirection N/A lever_center N/A linePoint N/A lineDirection N/A N/A np min dists N/A lever_tip N/A linePoint N/A lineDirection N/A N/A np max dists N/A zaxis N/A normal N/A xaxis N/A 0 0 1 N/A yaxis N/A N/A np cross zaxis xaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate point1 N/A wall_point_lower_left N/A -20 -20.0 0 N/A wall_point_lower_left_Transform N/A N/A transformUtils frameFromPositionAndRPY wall_point_lower_left N/A 0 0 0 N/A N/A N/A wall_point_lower_left_Transform Concatenate t N/A wall_point_lower_left N/A N/A wall_point_lower_left_Transform GetPosition N/A d1 N/A N/A np sqrt N/A N/A np sum N/A N/A wall_point_lower_left N/A projectPointToPlane lever_center origin normal 2 N/A d2 N/A N/A np sqrt N/A N/A np sum N/A N/A wall_point_lower_left N/A projectPointToPlane lever_tip origin normal 2 N/A N/A d2 d1 N/A N/A p_temp lever_center N/A lever_center lever_tip N/A lever_tip p_temp N/A lineDirection N/A lineDirection N/A zaxis N/A normal N/A xaxis N/A 0 0 1 N/A yaxis N/A N/A np cross zaxis xaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate lever_center N/A rotationAngle N/A N/A computeSignedAngleBetweenVectors lineDirection N/A 0 0 1 N/A normal N/A t_lever N/A N/A transformUtils frameFromPositionAndRPY N/A 0 0 0 N/A 0 0 N/A N/A math degrees rotationAngle N/A N/A N/A t_lever PostMultiply N/A N/A N/A t_lever Concatenate t N/A d N/A DebugData N/A N/A N/A d addSphere wall_point_lower_left radius 0.1 N/A N/A N/A d addSphere lever_center radius 0.04 N/A N/A N/A d addSphere lever_tip radius 0.01 N/A N/A N/A d addLine lever_center lever_tip N/A N/A updatePolyData N/A N/A d getPolyData lever end points color N/A 0 1 0 parent N/A getDebugFolder visible False N/A radius 0.01 N/A length N/A N/A np sqrt N/A N/A np sum N/A N/A lever_tip lever_center 2 N/A d N/A DebugData N/A N/A N/A d addLine N/A 0 0 0 N/A length 0 0 radius radius N/A N/A N/A d addSphere N/A 0 0 0 0.02 N/A geometry N/A N/A d getPolyData N/A obj N/A showPolyData geometry valve lever cls FrameAffordanceItem parent affordances color N/A 0 1 0 visible True N/A N/A N/A N/A obj actor SetUserTransform t_lever N/A N/A N/A obj addToView N/A N/A app getDRCView N/A frameObj N/A showFrame t_lever lever frame parent obj visible False N/A N/A N/A frameObj addToView N/A N/A app getDRCView N/A otdfType lever_valve N/A params N/A dict origin N/A N/A np array N/A N/A t_lever GetPosition xaxis xaxis yaxis yaxis zaxis zaxis xwidth 0.1 ywidth 0.1 zwidth 0.1 radius radius length length friendly_name otdfType otdf_type otdfType N/A N/A N/A obj setAffordanceParams params N/A N/A N/A obj updateParamsFromActorTransform N/A applyICP N/A N/A source target N/A N/A N/A icp N/A N/A vtk vtkIterativeClosestPointTransform N/A N/A N/A icp SetSource source N/A N/A N/A icp SetTarget target N/A N/A N/A N/A N/A icp GetLandmarkTransform SetModeToRigidBody N/A N/A N/A icp Update N/A t N/A N/A vtk vtkTransform N/A N/A N/A t SetMatrix N/A N/A icp GetMatrix N/A t N/A applyDiskGlyphs N/A N/A polyData computeNormals N/A True N/A N/A voxelGridLeafSize 0.03 N/A normalEstimationSearchRadius 0.05 N/A diskRadius 0.015 N/A diskResolution 12 N/A computeNormals N/A N/A scanInput polyData N/A pd N/A applyVoxelGrid scanInput leafSize voxelGridLeafSize N/A pd N/A labelOutliers pd searchRadius normalEstimationSearchRadius neighborsInSearchRadius 3 N/A pd N/A thresholdPoints pd is_outlier N/A 0 0 N/A pd N/A normalEstimation pd searchRadius normalEstimationSearchRadius searchCloud scanInput N/A N/A pd polyData N/A N/A N/A N/A N/A polyData GetPointData GetNormals N/A disk N/A N/A vtk vtkDiskSource N/A N/A N/A disk SetOuterRadius diskRadius N/A N/A N/A disk SetInnerRadius 0.0 N/A N/A N/A disk SetRadialResolution 0 N/A N/A N/A disk SetCircumferentialResolution diskResolution N/A N/A N/A disk Update N/A t N/A N/A vtk vtkTransform N/A N/A N/A t RotateY 90 N/A disk N/A transformPolyData N/A N/A disk GetOutput t N/A glyph N/A N/A vtk vtkGlyph3D N/A N/A N/A glyph ScalingOff N/A N/A N/A glyph OrientOn N/A N/A N/A glyph SetSource disk N/A N/A N/A glyph SetInput pd N/A N/A N/A glyph SetVectorModeToUseNormal N/A N/A N/A glyph Update N/A N/A shallowCopy N/A N/A glyph GetOutput N/A applyArrowGlyphs N/A N/A polyData computeNormals voxelGridLeafSize normalEstimationSearchRadius arrowSize N/A True 0.03 0.05 0.02 N/A N/A computeNormals N/A N/A polyData N/A applyVoxelGrid polyData leafSize 0.02 N/A voxelData N/A applyVoxelGrid polyData leafSize voxelGridLeafSize N/A polyData N/A normalEstimation polyData searchRadius normalEstimationSearchRadius searchCloud voxelData N/A polyData N/A removeNonFinitePoints polyData normals N/A N/A flipNormalsWithViewDirection polyData N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewDirection N/A N/A N/A N/A N/A polyData GetPointData GetNormals N/A arrow N/A N/A vtk vtkArrowSource N/A N/A N/A arrow Update N/A glyph N/A N/A vtk vtkGlyph3D N/A N/A N/A glyph SetScaleFactor arrowSize N/A N/A N/A glyph SetSource N/A N/A arrow GetOutput N/A N/A N/A glyph SetInput polyData N/A N/A N/A glyph SetVectorModeToUseNormal N/A N/A N/A glyph Update N/A N/A shallowCopy N/A N/A glyph GetOutput N/A segmentLeverValve N/A N/A point1 point2 N/A N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A viewPlaneNormal N/A N/A np array N/A N/A N/A N/A N/A getSegmentationView camera GetViewPlaneNormal N/A N/A polyData origin normal N/A applyPlaneFit polyData expectedNormal viewPlaneNormal searchOrigin point1 searchRadius 0.2 angleEpsilon 0.7 returnOrigin True N/A wallPoints N/A thresholdPoints polyData dist_to_plane N/A -0.01 0.01 N/A N/A updatePolyData wallPoints wall points parent N/A getDebugFolder visible False N/A radius 0.01 N/A length 0.33 N/A normal N/A normal N/A zaxis normal N/A xaxis N/A 0 0 1 N/A yaxis N/A N/A np cross zaxis xaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate point2 N/A leverP1 point2 N/A leverP2 N/A point2 N/A xaxis length N/A d N/A DebugData N/A N/A N/A d addLine N/A 0 0 0 N/A length 0 0 radius radius N/A N/A N/A d addSphere N/A 0 0 0 0.02 N/A geometry N/A N/A d getPolyData N/A obj N/A showPolyData geometry valve lever cls FrameAffordanceItem parent affordances color N/A 0 1 0 visible True N/A N/A N/A N/A obj actor SetUserTransform t N/A N/A N/A obj addToView N/A N/A app getDRCView N/A frameObj N/A showFrame t lever frame parent obj visible False N/A N/A N/A frameObj addToView N/A N/A app getDRCView N/A otdfType lever_valve N/A params N/A dict origin N/A N/A np array N/A N/A t GetPosition xaxis xaxis yaxis yaxis zaxis zaxis xwidth 0.1 ywidth 0.1 zwidth 0.1 radius radius length length friendly_name otdfType otdf_type otdfType N/A N/A N/A obj setAffordanceParams params N/A N/A N/A obj updateParamsFromActorTransform N/A segmentWye N/A N/A point1 point2 N/A N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A viewPlaneNormal N/A N/A np array N/A N/A N/A N/A N/A getSegmentationView camera GetViewPlaneNormal N/A N/A polyData origin normal N/A applyPlaneFit polyData expectedNormal viewPlaneNormal searchOrigin point1 searchRadius 0.2 angleEpsilon 0.7 returnOrigin True N/A wallPoints N/A thresholdPoints polyData dist_to_plane N/A -0.01 0.01 N/A N/A updatePolyData wallPoints wall points parent N/A getDebugFolder visible False N/A wyeMesh N/A N/A ioUtils readPolyData N/A N/A N/A os path join N/A N/A app getDRCBase software/models/otdf/wye.obj N/A wyeMeshPoint N/A N/A np array N/A 0.0 0.0 0.005 N/A wyeMeshLeftHandle N/A N/A np array N/A 0.032292 0.02949 0.068485 N/A xaxis N/A normal N/A zaxis N/A 0 0 1 N/A yaxis N/A N/A np cross zaxis xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A zaxis N/A N/A np cross xaxis yaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PreMultiply N/A N/A N/A t Translate N/A wyeMeshPoint N/A N/A N/A t PostMultiply N/A N/A N/A t Translate point2 N/A d N/A DebugData N/A N/A N/A d addSphere point2 radius 0.005 N/A N/A updatePolyData N/A N/A d getPolyData wye pick point parent N/A getDebugFolder visible False N/A wyeObj N/A showPolyData wyeMesh wye cls FrameAffordanceItem color N/A 0 1 0 visible True N/A N/A N/A N/A wyeObj actor SetUserTransform t N/A N/A N/A wyeObj addToView N/A N/A app getDRCView N/A frameObj N/A showFrame t wye frame parent wyeObj visible False N/A N/A N/A frameObj addToView N/A N/A app getDRCView N/A params N/A dict origin N/A N/A np array N/A N/A t GetPosition xaxis xaxis yaxis yaxis zaxis zaxis xwidth 0.1 ywidth 0.1 zwidth 0.1 friendly_name wye otdf_type wye N/A N/A N/A wyeObj setAffordanceParams params N/A N/A N/A wyeObj updateParamsFromActorTransform N/A segmentDoorHandle N/A N/A otdfType point1 point2 N/A N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A viewPlaneNormal N/A N/A np array N/A N/A N/A N/A N/A getSegmentationView camera GetViewPlaneNormal N/A N/A polyData origin normal N/A applyPlaneFit polyData expectedNormal viewPlaneNormal searchOrigin point1 searchRadius 0.2 angleEpsilon 0.7 returnOrigin True N/A wallPoints N/A thresholdPoints polyData dist_to_plane N/A -0.01 0.01 N/A N/A updatePolyData wallPoints wall points parent N/A getDebugFolder visible False N/A handlePoint N/A N/A np array N/A 0.005 0.065 0.011 N/A xaxis N/A normal N/A zaxis N/A 0 0 1 N/A yaxis N/A N/A np cross zaxis xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A zaxis N/A N/A np cross xaxis yaxis N/A xwidth 0.01 N/A ywidth 0.13 N/A zwidth 0.022 N/A cube N/A N/A vtk vtkCubeSource N/A N/A N/A cube SetXLength xwidth N/A N/A N/A cube SetYLength ywidth N/A N/A N/A cube SetZLength zwidth N/A N/A N/A cube Update N/A cube N/A shallowCopy N/A N/A cube GetOutput N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate point2 N/A name door handle N/A obj N/A showPolyData cube name cls FrameAffordanceItem parent affordances N/A N/A N/A N/A obj actor SetUserTransform t N/A N/A N/A obj addToView N/A N/A app getDRCView N/A params N/A dict origin origin xwidth xwidth ywidth ywidth zwidth zwidth xaxis xaxis yaxis yaxis zaxis zaxis friendly_name name otdf_type otdfType N/A N/A N/A obj setAffordanceParams params N/A N/A N/A obj updateParamsFromActorTransform N/A frameObj N/A showFrame N/A N/A N/A obj actor GetUserTransform N/A name  frame parent obj visible False N/A N/A N/A frameObj addToView N/A N/A app getDRCView N/A segmentTruss N/A N/A point1 point2 N/A N/A N/A edge N/A point2 point1 N/A edgeLength N/A N/A N/A np linalg norm edge N/A stanceOffset N/A -0.42 0.0 0.0 N/A stanceYaw 0.0 N/A d N/A DebugData N/A p1 N/A 0.0 0.0 0.0 N/A p2 N/A N/A N/A N/A np array N/A 0.0 -1.0 0.0 edgeLength N/A N/A N/A d addSphere p1 radius 0.02 N/A N/A N/A d addSphere p2 radius 0.02 N/A N/A N/A d addLine p1 p2 N/A stanceTransform N/A N/A vtk vtkTransform N/A N/A N/A stanceTransform PostMultiply N/A N/A N/A stanceTransform Translate stanceOffset N/A geometry N/A transformPolyData N/A N/A d getPolyData N/A N/A stanceTransform GetLinearInverse N/A yaxis N/A edge edgeLength N/A zaxis N/A 0.0 0.0 1.0 N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A yaxis N/A N/A np cross zaxis xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A xwidth 0.1 N/A ywidth edgeLength N/A zwidth 0.1 N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PreMultiply N/A N/A N/A t Concatenate stanceTransform N/A N/A N/A t PostMultiply N/A N/A N/A t Translate point1 N/A name truss N/A otdfType robot_knees N/A obj N/A showPolyData geometry name cls FrameAffordanceItem parent affordances N/A N/A N/A N/A obj actor SetUserTransform t N/A N/A N/A obj addToView N/A N/A app getDRCView N/A params N/A dict origin N/A N/A t GetPosition xwidth xwidth ywidth ywidth zwidth zwidth xaxis xaxis yaxis yaxis zaxis zaxis friendly_name name otdf_type otdfType N/A N/A N/A obj setAffordanceParams params N/A N/A N/A obj updateParamsFromActorTransform N/A frameObj N/A showFrame N/A N/A N/A obj actor GetUserTransform N/A name  frame parent obj visible False N/A N/A N/A frameObj addToView N/A N/A app getDRCView N/A segmentHoseNozzle N/A N/A point1 N/A N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A searchRegion N/A cropToSphere polyData point1 0.1 N/A N/A updatePolyData searchRegion nozzle search region parent N/A getDebugFolder visible False N/A xaxis N/A 1 0 0 N/A yaxis N/A 0 -1 0 N/A zaxis N/A 0 0 -1 N/A origin point1 N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate point1 N/A nozzleRadius 0.0266 N/A nozzleLength 0.042 N/A nozzleTipRadius 0.031 N/A nozzleTipLength 0.024 N/A d N/A DebugData N/A N/A N/A d addLine N/A N/A np array N/A 0 0 N/A N/A nozzleLength 2.0 N/A N/A np array N/A 0 0 N/A nozzleLength 2.0 radius nozzleRadius N/A N/A N/A d addLine N/A N/A np array N/A 0 0 N/A nozzleLength 2.0 N/A N/A np array N/A 0 0 N/A N/A nozzleLength 2.0 nozzleTipLength radius nozzleTipRadius N/A obj N/A showPolyData N/A N/A d getPolyData hose nozzle cls FrameAffordanceItem color N/A 0 1 0 visible True N/A N/A N/A N/A obj actor SetUserTransform t N/A N/A N/A obj addToView N/A N/A app getDRCView N/A frameObj N/A showFrame t nozzle frame parent obj visible False N/A N/A N/A frameObj addToView N/A N/A app getDRCView N/A params N/A dict origin origin xaxis xaxis yaxis yaxis zaxis zaxis xwidth 0.1 ywidth 0.1 zwidth 0.1 friendly_name firehose otdf_type firehose N/A N/A N/A obj setAffordanceParams params N/A N/A N/A obj updateParamsFromActorTransform N/A segmentDrillWall N/A N/A point1 point2 point3 N/A N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A points N/A point1 point2 point3 N/A viewPlaneNormal N/A N/A np array N/A N/A N/A N/A N/A getSegmentationView camera GetViewPlaneNormal N/A expectedNormal N/A N/A np cross N/A point2 point1 N/A point3 point1 N/A expectedNormal N/A N/A N/A np linalg norm expectedNormal N/A N/A N/A N/A np dot expectedNormal viewPlaneNormal 0 N/A N/A expectedNormal -1.0 N/A N/A polyData origin normal N/A applyPlaneFit polyData expectedNormal expectedNormal searchOrigin N/A N/A N/A point1 point2 point3 3.0 searchRadius 0.3 angleEpsilon 0.3 returnOrigin True N/A points N/A N/A projectPointToPlane point origin normal N/A point points N/A xaxis N/A normal N/A zaxis N/A 0 0 1 N/A yaxis N/A N/A np cross zaxis xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A zaxis N/A N/A np cross xaxis yaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate N/A points N/A 0 N/A d N/A DebugData N/A pointsInWallFrame N/A N/A p points N/A N/A pp N/A N/A np zeros 3 N/A N/A N/A N/A N/A t GetLinearInverse TransformPoint p pp N/A N/A N/A pointsInWallFrame append pp N/A N/A N/A d addSphere pp radius 0.02 N/A N/A a b N/A zip pointsInWallFrame N/A N/A pointsInWallFrame N/A 1 N/A N/A pointsInWallFrame N/A 0 N/A N/A N/A N/A d addLine a b radius 0.015 N/A aff N/A showPolyData N/A N/A d getPolyData drill target cls FrameAffordanceItem color N/A 0 1 0 visible True N/A N/A N/A N/A aff actor SetUserTransform t N/A N/A showFrame t drill target frame parent aff visible False N/A N/A N/A refitWallCallbacks append N/A N/A functools partial refitDrillWall aff N/A params N/A dict origin N/A points N/A 0 xaxis xaxis yaxis yaxis zaxis zaxis xwidth 0.1 ywidth 0.1 zwidth 0.1 p1y N/A N/A pointsInWallFrame N/A 0 N/A 1 p1z N/A N/A pointsInWallFrame N/A 0 N/A 2 p2y N/A N/A pointsInWallFrame N/A 1 N/A 1 p2z N/A N/A pointsInWallFrame N/A 1 N/A 2 p3y N/A N/A pointsInWallFrame N/A 2 N/A 1 p3z N/A N/A pointsInWallFrame N/A 2 N/A 2 friendly_name drill_wall otdf_type drill_wall N/A N/A N/A aff setAffordanceParams params N/A N/A N/A aff updateParamsFromActorTransform N/A N/A N/A aff addToView N/A N/A app getDRCView N/A N/A refitWallCallbacks N/A refitWall N/A N/A point1 N/A N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A viewPlaneNormal N/A N/A np array N/A N/A N/A N/A N/A getSegmentationView camera GetViewPlaneNormal N/A N/A polyData origin normal N/A applyPlaneFit polyData expectedNormal viewPlaneNormal searchOrigin point1 searchRadius 0.2 angleEpsilon 0.7 returnOrigin True N/A wallPoints N/A thresholdPoints polyData dist_to_plane N/A -0.01 0.01 N/A N/A updatePolyData wallPoints wall points parent N/A getDebugFolder visible False N/A func refitWallCallbacks N/A N/A N/A func point1 origin normal N/A refitDrillWall N/A N/A aff point1 origin normal N/A N/A N/A t N/A N/A N/A aff actor GetUserTransform N/A targetOrigin N/A N/A np array N/A N/A t GetPosition N/A projectedOrigin N/A projectPointToPlane targetOrigin origin normal N/A N/A projectedOrigin N/A 2 N/A targetOrigin N/A 2 N/A xaxis N/A normal N/A zaxis N/A 0 0 1 N/A yaxis N/A N/A np cross zaxis xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A zaxis N/A N/A np cross xaxis yaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate projectedOrigin N/A N/A N/A N/A N/A N/A aff actor GetUserTransform SetMatrix N/A N/A t GetMatrix N/A getGroundHeightFromFeet N/A N/A N/A N/A N/A rfoot N/A getLinkFrame N/A N/A N/A drcargs getDirectorConfig N/A rightFootLink N/A N/A N/A N/A N/A np array N/A N/A rfoot GetPosition N/A 2 0.0745342 N/A getTranslationRelativeToFoot N/A N/A t N/A N/A N/A rfoot N/A getLinkFrame N/A N/A N/A drcargs getDirectorConfig N/A rightFootLink N/A segmentDrillWallConstrained N/A N/A rightAngleLocation point1 point2 N/A N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A viewPlaneNormal N/A N/A np array N/A N/A N/A N/A N/A getSegmentationView camera GetViewPlaneNormal N/A expectedNormal N/A N/A np cross N/A point2 point1 N/A 0.0 0.0 1.0 N/A expectedNormal N/A N/A N/A np linalg norm expectedNormal N/A N/A N/A N/A np dot expectedNormal viewPlaneNormal 0 N/A N/A expectedNormal -1.0 N/A N/A polyData origin normal N/A applyPlaneFit polyData expectedNormal expectedNormal searchOrigin point1 searchRadius 0.3 angleEpsilon 0.3 returnOrigin True N/A triangleOrigin N/A projectPointToPlane point2 origin normal N/A xaxis N/A normal N/A zaxis N/A 0 0 1 N/A yaxis N/A N/A np cross zaxis xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A zaxis N/A N/A np cross xaxis yaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate triangleOrigin N/A N/A createDrillWall rightAngleLocation t N/A createDrillWall N/A N/A rightAngleLocation trianglePose N/A N/A N/A triangleOrigin N/A N/A trianglePose GetPosition N/A N/A xaxis yaxis zaxis N/A N/A transformUtils getAxesFromTransform trianglePose N/A edgeRight N/A N/A N/A np array N/A 0.0 -1.0 0.0 0.6 N/A edgeUp N/A N/A N/A np array N/A 0.0 0.0 1.0 0.3 N/A pointsInWallFrame N/A N/A np zeros N/A 3 3 N/A N/A rightAngleLocation DRILL_TRIANGLE_BOTTOM_LEFT N/A N/A N/A pointsInWallFrame N/A 1 edgeUp N/A N/A pointsInWallFrame N/A 2 edgeRight N/A N/A N/A rightAngleLocation DRILL_TRIANGLE_BOTTOM_RIGHT N/A N/A N/A pointsInWallFrame N/A 1 edgeUp N/A N/A pointsInWallFrame N/A 2 N/A edgeRight N/A N/A N/A rightAngleLocation DRILL_TRIANGLE_TOP_LEFT N/A N/A N/A pointsInWallFrame N/A 1 edgeRight N/A N/A pointsInWallFrame N/A 2 N/A edgeUp N/A N/A N/A rightAngleLocation DRILL_TRIANGLE_TOP_RIGHT N/A N/A N/A pointsInWallFrame N/A 1 edgeRight N/A N/A pointsInWallFrame N/A 2 N/A edgeRight edgeUp N/A N/A N/A Exception unexpected value for right angle location:  N/A rightAngleLocation N/A center N/A N/A N/A pointsInWallFrame sum axis 0 3.0 N/A shrinkFactor 1 N/A shrinkPoints N/A N/A N/A pointsInWallFrame center shrinkFactor center N/A d N/A DebugData N/A p pointsInWallFrame N/A N/A N/A N/A d addSphere p radius 0.015 N/A N/A a b N/A zip pointsInWallFrame N/A N/A np vstack N/A N/A pointsInWallFrame N/A 1 N/A pointsInWallFrame N/A 0 N/A N/A N/A N/A d addLine a b radius 0.005 N/A N/A a b N/A zip shrinkPoints N/A N/A np vstack N/A N/A shrinkPoints N/A 1 N/A shrinkPoints N/A 0 N/A N/A N/A N/A d addLine a b radius 0.005 N/A folder N/A N/A om getOrCreateContainer affordances N/A wall N/A N/A om findObjectByName wall N/A N/A N/A om removeFromObjectModel wall N/A aff N/A showPolyData N/A N/A d getPolyData wall cls FrameAffordanceItem color N/A 0 1 0 visible True parent folder N/A N/A N/A N/A aff actor SetUserTransform trianglePose N/A N/A N/A aff addToView N/A N/A app getDRCView N/A N/A N/A refitWallCallbacks append N/A N/A functools partial refitDrillWall aff N/A frameObj N/A showFrame trianglePose wall frame parent aff scale 0.2 visible False N/A N/A N/A frameObj addToView N/A N/A app getDRCView N/A params N/A dict origin triangleOrigin xaxis xaxis yaxis yaxis zaxis zaxis xwidth 0.1 ywidth 0.1 zwidth 0.1 p1y N/A N/A shrinkPoints N/A 0 N/A 1 p1z N/A N/A shrinkPoints N/A 0 N/A 2 p2y N/A N/A shrinkPoints N/A 1 N/A 1 p2z N/A N/A shrinkPoints N/A 1 N/A 2 p3y N/A N/A shrinkPoints N/A 2 N/A 1 p3z N/A N/A shrinkPoints N/A 2 N/A 2 friendly_name drill_wall otdf_type drill_wall N/A N/A N/A aff setAffordanceParams params N/A N/A N/A aff updateParamsFromActorTransform N/A 
    rfoot = getLinkFrame(drcargs.getDirectorConfig()['rightFootLink'])
    tt = getTransformFromAxes(xaxis, yaxis, zaxis)
    tt.PostMultiply()
    tt.Translate(rfoot.GetPosition())
    showFrame(tt, 'rfoot with wall orientation')
    aff.footToAffTransform = computeAToB(tt, trianglePose)

    footToAff = list(aff.footToAffTransform.GetPosition())
    tt.TransformVector(footToAff, footToAff)

    d = DebugData()
    d.addSphere(tt.GetPosition(), radius=0.02)
    d.addLine(tt.GetPosition(), np.array(tt.GetPosition()) + np.array(footToAff))
    showPolyData(d.getPolyData(), 'rfoot debug')
     N/A getDrillAffordanceParams N/A N/A origin xaxis yaxis zaxis drillType N/A dewalt_button N/A N/A N/A drillType dewalt_button N/A N/A params N/A dict origin origin xaxis xaxis yaxis yaxis zaxis zaxis xwidth 0.1 ywidth 0.1 zwidth 0.1 button_x 0.007 button_y -0.035 button_z -0.06 button_roll -90.0 button_pitch -90.0 button_yaw 0.0 bit_x -0.01 bit_y 0.0 bit_z 0.15 bit_roll 0 bit_pitch -90 bit_yaw 0 friendly_name dewalt_button otdf_type dewalt_button N/A N/A params N/A dict origin origin xaxis xaxis yaxis yaxis zaxis zaxis xwidth 0.1 ywidth 0.1 zwidth 0.1 button_x 0.007 button_y -0.035 button_z -0.06 button_roll 0.0 button_pitch 0.0 button_yaw 0.0 bit_x 0.18 bit_y 0.0 bit_z 0.13 bit_roll 0 bit_pitch 0 bit_yaw 0 friendly_name dewalt_barrel otdf_type dewalt_barrel N/A params N/A getDrillMesh N/A N/A applyBitOffset N/A False N/A N/A button N/A N/A np array N/A 0.007 -0.035 -0.06 N/A drillMesh N/A N/A ioUtils readPolyData N/A N/A N/A os path join N/A N/A app getDRCBase software/models/otdf/dewalt_button.obj N/A applyBitOffset N/A N/A t N/A N/A vtk vtkTransform N/A N/A N/A t Translate 0.01 0.0 0.0 N/A drillMesh N/A transformPolyData drillMesh t N/A d N/A DebugData N/A N/A N/A d addPolyData drillMesh N/A N/A N/A d addSphere button radius 0.005 color N/A 0 1 0 N/A N/A N/A d addLine N/A 0.0 0.0 0.155 N/A 0.0 0.0 0.14 radius 0.001 color N/A 0 1 0 N/A N/A shallowCopy N/A N/A d getPolyData N/A getDrillBarrelMesh N/A N/A N/A N/A N/A N/A N/A ioUtils readPolyData N/A N/A N/A os path join N/A N/A app getDRCBase software/models/otdf/dewalt.ply computeNormals True N/A segmentDrill N/A N/A point1 point2 point3 N/A N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A viewPlaneNormal N/A N/A np array N/A N/A N/A N/A N/A getSegmentationView camera GetViewPlaneNormal N/A N/A polyData origin normal N/A applyPlaneFit polyData expectedNormal viewPlaneNormal searchOrigin point1 searchRadius 0.2 angleEpsilon 0.7 returnOrigin True N/A tablePoints N/A thresholdPoints polyData dist_to_plane N/A -0.01 0.01 N/A N/A updatePolyData tablePoints table plane points parent N/A getDebugFolder visible False N/A searchRegion N/A thresholdPoints polyData dist_to_plane N/A 0.03 0.4 N/A searchRegion N/A cropToSphere searchRegion point2 0.3 N/A drillPoints N/A extractLargestCluster searchRegion N/A drillToTopPoint N/A N/A np array N/A -0.002904 -0.010029 0.153182 N/A zaxis normal N/A yaxis N/A point3 point2 N/A yaxis N/A N/A N/A np linalg norm yaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A yaxis N/A N/A np cross zaxis xaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PreMultiply N/A N/A N/A t Translate N/A drillToTopPoint N/A N/A N/A t PostMultiply N/A N/A N/A t Translate point2 N/A drillMesh N/A getDrillMesh N/A aff N/A showPolyData drillMesh drill cls FrameAffordanceItem visible True N/A N/A N/A N/A aff actor SetUserTransform t N/A N/A N/A N/A showFrame t drill frame parent aff visible False addToView N/A N/A app getDRCView N/A params N/A getDrillAffordanceParams origin xaxis yaxis zaxis N/A N/A N/A aff setAffordanceParams params N/A N/A N/A aff updateParamsFromActorTransform N/A N/A N/A aff addToView N/A N/A app getDRCView N/A makePolyDataFields N/A N/A pd N/A N/A N/A mesh N/A computeDelaunay3D pd N/A N/A N/A N/A mesh GetNumberOfPoints N/A N/A None N/A N/A origin edges wireframe N/A getOrientedBoundingBox mesh N/A edgeLengths N/A N/A np array N/A N/A N/A N/A np linalg norm edge N/A edge edges N/A axes N/A N/A edge N/A N/A N/A np linalg norm edge N/A edge edges N/A zaxis N/A 0 0 1 N/A dot_products N/A N/A N/A np dot axe zaxis N/A axe axes N/A axes N/A N/A axes N/A i N/A i N/A N/A np argsort dot_products N/A edgeLengths N/A N/A edgeLengths N/A i N/A i N/A N/A np argsort dot_products N/A boxCenter N/A computeCentroid wireframe N/A t N/A getTransformFromAxes N/A axes N/A 0 N/A axes N/A 1 N/A axes N/A 2 N/A N/A N/A t PostMultiply N/A N/A N/A t Translate boxCenter N/A pd N/A transformPolyData pd N/A N/A t GetLinearInverse N/A wireframe N/A transformPolyData wireframe N/A N/A t GetLinearInverse N/A mesh N/A transformPolyData mesh N/A N/A t GetLinearInverse N/A N/A FieldContainer points pd box wireframe mesh mesh frame t dims edgeLengths axes axes N/A makeMovable N/A N/A obj initialTransform N/A None N/A N/A 
    Adds a child frame to the given PolyDataItem.  If initialTransform is not
    given, then an origin frame is computed for the polydata using the
    center and orientation of the oriented bounding of the polydata.  The polydata
    is transformed using the inverse of initialTransform and then a child frame
    is assigned to the object to reposition it.
     N/A pd N/A obj polyData N/A t initialTransform N/A N/A t None N/A N/A N/A origin edges wireframe N/A getOrientedBoundingBox pd N/A edgeLengths N/A N/A np array N/A N/A N/A N/A np linalg norm edge N/A edge edges N/A axes N/A N/A edge N/A N/A N/A np linalg norm edge N/A edge edges N/A boxCenter N/A computeCentroid wireframe N/A t N/A getTransformFromAxes N/A axes N/A 0 N/A axes N/A 1 N/A axes N/A 2 N/A N/A N/A t PostMultiply N/A N/A N/A t Translate boxCenter N/A pd N/A transformPolyData pd N/A N/A t GetLinearInverse N/A N/A N/A obj setPolyData pd N/A frame N/A N/A obj getChildFrame N/A frame N/A N/A N/A N/A frame copyFrame t N/A N/A frame N/A N/A vis showFrame t N/A N/A N/A obj getProperty Name  frame parent obj scale 0.2 visible False N/A N/A N/A N/A obj actor SetUserTransform t N/A segmentTable N/A N/A polyData searchPoint N/A N/A N/A 
    NB: If you wish to use the table frame use segmentTableAndFrame instead 
    ##################
    Segment a horizontal table surface (perpendicular to +Z) in the given polyData
    Input:
    - polyData
    - search point on plane

    Output:
    - polyData, tablePoints, origin, normal
    - polyData is the input polyData with a new 'dist_to_plane' attribute.
     N/A expectedNormal N/A N/A np array N/A 0.0 0.0 1.0 N/A tableNormalEpsilon 0.4 N/A polyData N/A applyVoxelGrid polyData leafSize 0.01 N/A N/A polyData origin normal N/A applyPlaneFit polyData expectedNormal expectedNormal perpendicularAxis expectedNormal searchOrigin searchPoint searchRadius 0.3 angleEpsilon tableNormalEpsilon returnOrigin True N/A tablePoints N/A thresholdPoints polyData dist_to_plane N/A -0.01 0.01 N/A tablePoints N/A labelDistanceToPoint tablePoints searchPoint N/A tablePointsClusters N/A extractClusters tablePoints minClusterSize 10 clusterTolerance 0.1 N/A N/A N/A tablePointsClusters sort key N/A N/A N/A x N/A N/A N/A N/A N/A vtkNumpy getNumpyFromVtk x distance_to_point min N/A tablePoints N/A tablePointsClusters N/A 0 N/A N/A updatePolyData tablePoints table plane points parent N/A getDebugFolder visible False N/A N/A updatePolyData tablePoints table points parent N/A getDebugFolder visible False N/A N/A polyData tablePoints origin normal N/A filterClusterObjects N/A N/A clusters N/A N/A N/A result N/A N/A cluster clusters N/A N/A N/A N/A N/A np abs N/A N/A np dot N/A N/A cluster axes N/A 2 N/A 0 0 1 0.5 N/A N/A N/A N/A N/A N/A cluster dims N/A 2 0.1 N/A N/A N/A N/A N/A result append cluster N/A result N/A segmentTableScene N/A N/A polyData searchPoint filterClustering N/A True N/A N/A N/A objectClusters tableData N/A segmentTableSceneClusters polyData searchPoint N/A clusters N/A N/A makePolyDataFields cluster N/A cluster objectClusters N/A clusters N/A cluster N/A cluster clusters N/A cluster None N/A table_axes N/A N/A transformUtils getAxesFromTransform N/A tableData frame N/A cluster clusters N/A N/A cluster_axes N/A N/A transformUtils getAxesFromTransform N/A cluster frame N/A zaxis N/A cluster_axes N/A 2 N/A xaxis N/A table_axes N/A 0 N/A yaxis N/A N/A np cross zaxis xaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A orientedFrame N/A N/A transformUtils getTransformFromAxesAndOrigin xaxis yaxis zaxis N/A N/A N/A cluster frame GetPosition N/A N/A N/A cluster _add_fields oriented_frame orientedFrame N/A filterClustering N/A N/A clusters N/A filterClusterObjects clusters N/A N/A FieldContainer table tableData clusters clusters N/A segmentTableSceneClusters N/A N/A polyData searchPoint clusterInXY N/A False N/A N/A  Given a point cloud of a table with some objects on it
        and a point on that table
        determine the plane of the table and
        extract clusters above the table
     N/A N/A tableData polyData N/A segmentTableAndFrame polyData searchPoint N/A searchRegion N/A thresholdPoints polyData dist_to_plane N/A 0.02 0.5 N/A searchRegion N/A cropToSphere searchRegion N/A N/A N/A tableData frame GetPosition 0.5 N/A N/A showFrame N/A tableData frame tableFrame visible False parent N/A getDebugFolder scale 0.15 N/A N/A showPolyData searchRegion searchRegion color N/A 1 0 0 visible False parent N/A getDebugFolder N/A objectClusters N/A extractClusters searchRegion clusterInXY clusterTolerance 0.02 minClusterSize 10 N/A N/A i c N/A enumerate objectClusters N/A N/A name N/A cluster %d i N/A N/A showPolyData c name color N/A getRandomColor visible False parent N/A getDebugFolder N/A N/A objectClusters tableData N/A segmentTableAndFrame N/A N/A polyData searchPoint N/A N/A N/A 
    Segment a table using a searchPoint on the table top
    and then recover its coordinate frame, facing away from the robot
    Objects/points on the table are ignored

    Input: polyData and searchPoint on the table

    Output: FieldContainer with:
    - all relevent details about the table (only)

     N/A N/A polyData tablePoints _ _ N/A segmentTable polyData searchPoint N/A tableMesh N/A computeDelaunay3D tablePoints N/A viewFrame N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewFrame N/A viewDirection N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewDirection N/A robotYaw N/A N/A N/A N/A math atan2 N/A viewDirection N/A 1 N/A viewDirection N/A 0 180.0 N/A np pi N/A linkFrame N/A N/A transformUtils frameFromPositionAndRPY N/A N/A viewFrame GetPosition N/A 0 0 robotYaw N/A N/A cornerTransform rectDepth rectWidth _ N/A findMinimumBoundingRectangle tablePoints linkFrame N/A rectHeight 0.02 N/A t N/A N/A transformUtils copyFrame cornerTransform N/A N/A N/A t PreMultiply N/A table_center N/A N/A N/A rectDepth 2 N/A rectWidth 2 0 N/A t3 N/A N/A transformUtils frameFromPositionAndRPY table_center N/A 0 0 0 N/A N/A N/A t Concatenate t3 N/A edgeLengths N/A rectDepth rectWidth rectHeight N/A N/A tableXAxis tableYAxis tableZAxis N/A N/A transformUtils getAxesFromTransform t N/A axes N/A tableXAxis tableYAxis tableZAxis N/A wf N/A N/A vtk vtkOutlineSource N/A N/A N/A wf SetBounds N/A N/A N/A rectDepth 2 N/A rectDepth 2 N/A N/A rectWidth 2 N/A rectWidth 2 N/A N/A rectHeight 2 N/A rectHeight 2 N/A wireframe N/A N/A wf GetOutput N/A tablePoints N/A transformPolyData tablePoints N/A N/A t GetLinearInverse N/A tableMesh N/A transformPolyData tableMesh N/A N/A t GetLinearInverse N/A N/A N/A FieldContainer points tablePoints box wireframe mesh tableMesh frame t dims edgeLengths axes axes polyData N/A segmentDrillAuto N/A N/A point1 polyData N/A None N/A N/A N/A polyData None N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A expectedNormal N/A N/A np array N/A 0.0 0.0 1.0 N/A N/A polyData origin normal N/A applyPlaneFit polyData expectedNormal expectedNormal perpendicularAxis expectedNormal searchOrigin point1 searchRadius 0.4 angleEpsilon 0.2 returnOrigin True N/A tablePoints N/A thresholdPoints polyData dist_to_plane N/A -0.01 0.01 N/A N/A updatePolyData tablePoints table plane points parent N/A getDebugFolder visible False N/A tablePoints N/A labelDistanceToPoint tablePoints point1 N/A tablePointsClusters N/A extractClusters tablePoints N/A N/A N/A tablePointsClusters sort key N/A N/A N/A x N/A N/A N/A N/A N/A vtkNumpy getNumpyFromVtk x distance_to_point min N/A tablePoints N/A tablePointsClusters N/A 0 N/A N/A updatePolyData tablePoints table points parent N/A getDebugFolder visible False N/A searchRegion N/A thresholdPoints polyData dist_to_plane N/A 0.03 0.4 N/A searchRegion N/A cropToSphere searchRegion point1 0.3 N/A drillPoints N/A extractLargestCluster searchRegion minClusterSize 1 N/A centroids N/A computeCentroids drillPoints axis normal N/A centroidsPolyData N/A N/A vtkNumpy getVtkPolyDataFromNumpyPoints centroids N/A d N/A DebugData N/A N/A updatePolyData centroidsPolyData cluster centroids parent N/A getDebugFolder visible False N/A drillToTopPoint N/A N/A np array N/A -0.002904 -0.010029 0.153182 N/A zaxis normal N/A yaxis N/A N/A centroids N/A 0 N/A centroids N/A -1 N/A yaxis N/A N/A N/A np linalg norm yaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A yaxis N/A N/A np cross zaxis xaxis N/A t N/A getTransformFromAxes yaxis N/A xaxis zaxis N/A N/A N/A t PreMultiply N/A N/A N/A t Translate N/A drillToTopPoint N/A N/A N/A t PostMultiply N/A N/A N/A t Translate N/A centroids N/A -1 N/A drillMesh N/A getDrillMesh N/A aff N/A showPolyData drillMesh drill cls FrameAffordanceItem visible True N/A N/A N/A N/A aff actor SetUserTransform t N/A N/A N/A N/A showFrame t drill frame parent aff visible False scale 0.2 addToView N/A N/A app getDRCView N/A params N/A getDrillAffordanceParams origin xaxis yaxis zaxis N/A N/A N/A aff setAffordanceParams params N/A N/A N/A aff updateParamsFromActorTransform N/A N/A N/A aff addToView N/A N/A app getDRCView N/A segmentDrillButton N/A N/A point1 N/A N/A N/A d N/A DebugData N/A N/A N/A d addSphere N/A 0 0 0 radius 0.005 N/A obj N/A updatePolyData N/A N/A d getPolyData sensed drill button color N/A 0 0.5 0.5 visible True N/A pointerTipFrame N/A N/A transformUtils frameFromPositionAndRPY point1 N/A 0 0 0 N/A N/A N/A N/A obj actor SetUserTransform pointerTipFrame N/A N/A N/A obj addToView N/A N/A app getDRCView N/A frameObj N/A updateFrame N/A N/A N/A obj actor GetUserTransform sensed drill button frame parent obj scale 0.2 visible False N/A N/A N/A frameObj addToView N/A N/A app getDRCView N/A segmentPointerTip N/A N/A point1 N/A N/A N/A d N/A DebugData N/A N/A N/A d addSphere N/A 0 0 0 radius 0.005 N/A obj N/A updatePolyData N/A N/A d getPolyData sensed pointer tip color N/A 0.5 0.5 0.0 visible True N/A pointerTipFrame N/A N/A transformUtils frameFromPositionAndRPY point1 N/A 0 0 0 N/A N/A N/A N/A obj actor SetUserTransform pointerTipFrame N/A N/A N/A obj addToView N/A N/A app getDRCView N/A frameObj N/A updateFrame N/A N/A N/A obj actor GetUserTransform sensed pointer tip frame parent obj scale 0.2 visible False N/A N/A N/A frameObj addToView N/A N/A app getDRCView N/A fitGroundObject N/A N/A polyData expectedDimensionsMin expectedDimensionsMax N/A None N/A 0.2 0.02 N/A 1.3 0.1 N/A N/A removeGroundFunc removeGroundSimple N/A polyData N/A polyData N/A getCurrentRevolutionData N/A N/A groundPoints scenePoints N/A removeGroundFunc polyData groundThickness 0.02 sceneHeightFromGround 0.035 N/A searchRegion N/A thresholdPoints scenePoints dist_to_plane N/A 0.05 0.2 N/A clusters N/A extractClusters searchRegion clusterTolerance 0.07 minClusterSize 4 N/A candidates N/A N/A N/A clusterId cluster N/A enumerate clusters N/A N/A N/A origin edges _ N/A getOrientedBoundingBox cluster N/A edgeLengths N/A N/A N/A N/A np linalg norm edge N/A edge N/A edges N/A 2 N/A found N/A N/A N/A expectedDimensionsMin N/A 0 N/A edgeLengths N/A 0 N/A expectedDimensionsMax N/A 0 N/A N/A expectedDimensionsMin N/A 1 N/A edgeLengths N/A 1 N/A expectedDimensionsMax N/A 1 N/A N/A found N/A N/A N/A updatePolyData cluster N/A candidate cluster %d clusterId color N/A 1 1 0 parent N/A getDebugFolder visible False N/A N/A N/A updatePolyData cluster N/A cluster %d clusterId color N/A 0 1 0 parent N/A getDebugFolder visible False N/A N/A N/A candidates append cluster N/A N/A candidates N/A N/A None N/A viewFrame N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewFrame N/A viewOrigin N/A N/A np array N/A N/A viewFrame GetPosition N/A dists N/A N/A N/A N/A np linalg norm N/A viewOrigin N/A computeCentroid cluster N/A cluster candidates N/A candidates N/A N/A candidates N/A i N/A i N/A N/A np argsort dists N/A cluster N/A candidates N/A 0 N/A obj N/A makePolyDataFields cluster N/A N/A N/A N/A vis showClusterObjects N/A obj parent segmentation N/A 0 N/A findHorizontalSurfaces N/A N/A polyData removeGroundFirst normalEstimationSearchRadius clusterTolerance minClusterSize distanceToPlaneThreshold normalsDotUpRange showClusters N/A False 0.05 0.025 150 0.0025 N/A 0.95 1.0 False N/A N/A 
    Find the horizontal surfaces, tuned to work with walking terrain
     N/A searchZ N/A 0.0 2.0 N/A voxelGridLeafSize 0.01 N/A verboseFlag False N/A removeGroundFirst N/A N/A N/A groundPoints scenePoints N/A removeGround polyData groundThickness 0.02 sceneHeightFromGround 0.05 N/A scenePoints N/A thresholdPoints scenePoints dist_to_plane searchZ N/A N/A updatePolyData groundPoints ground points parent N/A getDebugFolder visible verboseFlag N/A N/A scenePoints polyData N/A N/A N/A N/A scenePoints GetNumberOfPoints N/A N/A N/A f N/A N/A vtk vtkPCLNormalEstimation N/A N/A N/A f SetSearchRadius normalEstimationSearchRadius N/A N/A N/A f SetInput scenePoints N/A N/A N/A f SetInput 1 N/A applyVoxelGrid scenePoints voxelGridLeafSize N/A N/A N/A f Update N/A scenePoints N/A shallowCopy N/A N/A f GetOutput N/A normals N/A N/A vtkNumpy getNumpyFromVtk scenePoints normals N/A normalsDotUp N/A N/A np abs N/A N/A np dot normals N/A 0 0 1 N/A N/A N/A vtkNumpy addNumpyToVtk scenePoints normalsDotUp normals_dot_up N/A surfaces N/A thresholdPoints scenePoints normals_dot_up normalsDotUpRange N/A N/A updatePolyData scenePoints scene points parent N/A getDebugFolder colorByName normals_dot_up visible verboseFlag N/A N/A updatePolyData surfaces surfaces points parent N/A getDebugFolder colorByName normals_dot_up visible verboseFlag N/A clusters N/A extractClusters surfaces clusterTolerance clusterTolerance minClusterSize minClusterSize N/A planeClusters N/A N/A clustersLarge N/A N/A N/A N/A om removeFromObjectModel N/A N/A om findObjectByName surface clusters N/A folder N/A N/A om getOrCreateContainer surface clusters parentObj N/A getDebugFolder N/A N/A i cluster N/A enumerate clusters N/A N/A N/A updatePolyData cluster N/A surface cluster %d i parent folder color N/A getRandomColor visible verboseFlag N/A N/A planePoints _ N/A applyPlaneFit cluster distanceToPlaneThreshold N/A planePoints N/A thresholdPoints planePoints dist_to_plane N/A N/A distanceToPlaneThreshold distanceToPlaneThreshold N/A N/A N/A N/A planePoints GetNumberOfPoints minClusterSize N/A N/A N/A N/A clustersLarge append cluster N/A obj N/A makePolyDataFields planePoints N/A N/A obj None N/A N/A N/A N/A planeClusters append obj N/A folder N/A N/A om getOrCreateContainer surface objects parentObj N/A getDebugFolder N/A showClusters N/A N/A N/A N/A vis showClusterObjects planeClusters parent folder N/A clustersLarge N/A fitVerticalPosts N/A N/A polyData N/A N/A N/A N/A groundPoints scenePoints N/A removeGround polyData N/A scenePoints N/A thresholdPoints scenePoints dist_to_plane N/A 0.1 4.0 N/A N/A N/A N/A scenePoints GetNumberOfPoints N/A N/A N/A scenePoints N/A applyVoxelGrid scenePoints leafSize 0.03 N/A clusters N/A extractClusters scenePoints clusterTolerance 0.15 minClusterSize 10 isPostCluster N/A N/A cluster lineDirection N/A N/A N/A up N/A 0 0 1 N/A minPostLength 1.0 N/A maxRadius 0.3 N/A angle N/A N/A math degrees N/A N/A math acos N/A N/A N/A np dot up lineDirection N/A N/A N/A N/A np linalg norm up N/A N/A N/A np linalg norm lineDirection N/A N/A angle 15 N/A N/A False N/A N/A origin edges _ N/A getOrientedBoundingBox cluster N/A edgeLengths N/A N/A N/A N/A np linalg norm edge N/A edge edges N/A N/A N/A edgeLengths N/A 0 minPostLength N/A N/A False N/A zvalues N/A N/A N/A N/A N/A vtkNumpy getNumpyFromVtk cluster Points N/A N/A N/A 2 copy N/A N/A N/A vtkNumpy addNumpyToVtk cluster zvalues z N/A minZ N/A N/A np min zvalues N/A maxZ N/A N/A np max zvalues N/A cluster N/A thresholdPoints cluster z N/A N/A N/A minZ maxZ 2.0 maxZ N/A N/A origin edges _ N/A getOrientedBoundingBox cluster N/A edgeLengths N/A N/A N/A N/A np linalg norm edge N/A edge edges N/A N/A N/A N/A edgeLengths N/A 1 maxRadius N/A N/A edgeLengths N/A 2 maxRadius N/A N/A False N/A True N/A makeCylinderAffordance N/A N/A linePoints lineDirection lineOrigin postId N/A N/A N/A pts N/A N/A vtkNumpy getNumpyFromVtk linePoints Points N/A dists N/A N/A np dot N/A pts lineOrigin lineDirection N/A p1 N/A lineOrigin N/A lineDirection N/A N/A np min dists N/A p2 N/A lineOrigin N/A lineDirection N/A N/A np max dists N/A origin N/A N/A p1 p2 2.0 N/A lineLength N/A N/A N/A np linalg norm N/A p2 p1 N/A t N/A N/A transformUtils getTransformFromOriginAndNormal origin lineDirection N/A pose N/A N/A transformUtils poseFromTransform t N/A desc N/A dict classname CylinderAffordanceItem Name N/A post %d postId uuid N/A newUUID pose pose Radius 0.05 Length N/A float lineLength Color N/A 0.0 1.0 0.0 N/A N/A desc N/A Collision Enabled True N/A N/A N/A affordanceManager newAffordanceFromDescription desc N/A N/A rejectFolder N/A N/A om getOrCreateContainer nonpost clusters parentObj N/A getDebugFolder N/A keepFolder N/A N/A om getOrCreateContainer post clusters parentObj N/A getDebugFolder N/A N/A i cluster N/A enumerate clusters N/A N/A N/A linePoint lineDirection linePoints N/A applyLineFit cluster distanceThreshold 0.1 N/A N/A isPostCluster cluster lineDirection N/A N/A N/A N/A vis showPolyData cluster N/A cluster %d i visible False color N/A getRandomColor alpha 0.5 parent keepFolder N/A N/A makeCylinderAffordance linePoints lineDirection linePoint i N/A N/A N/A N/A vis showPolyData cluster N/A cluster %d i visible False color N/A getRandomColor alpha 0.5 parent rejectFolder N/A findAndFitDrillBarrel N/A N/A polyData N/A None N/A N/A  Find the horizontal surfaces
    on the horizontal surfaces, find all the drills
     N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A polyData N/A inputObj polyData N/A N/A groundPoints scenePoints N/A removeGround polyData groundThickness 0.02 sceneHeightFromGround 0.5 N/A scenePoints N/A thresholdPoints scenePoints dist_to_plane N/A 0.5 1.7 N/A N/A N/A N/A scenePoints GetNumberOfPoints N/A N/A N/A normalEstimationSearchRadius 0.1 N/A f N/A N/A vtk vtkPCLNormalEstimation N/A N/A N/A f SetSearchRadius normalEstimationSearchRadius N/A N/A N/A f SetInput scenePoints N/A N/A N/A f Update N/A scenePoints N/A shallowCopy N/A N/A f GetOutput N/A normals N/A N/A vtkNumpy getNumpyFromVtk scenePoints normals N/A normalsDotUp N/A N/A np abs N/A N/A np dot normals N/A 0 0 1 N/A N/A N/A vtkNumpy addNumpyToVtk scenePoints normalsDotUp normals_dot_up N/A surfaces N/A thresholdPoints scenePoints normals_dot_up N/A 0.95 1.0 N/A N/A updatePolyData groundPoints ground points parent N/A getDebugFolder visible False N/A N/A updatePolyData scenePoints scene points parent N/A getDebugFolder colorByName normals_dot_up visible False N/A N/A updatePolyData surfaces surfaces parent N/A getDebugFolder visible False N/A clusters N/A extractClusters surfaces clusterTolerance 0.15 minClusterSize 50 N/A fitResults N/A N/A viewFrame N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewFrame N/A forwardDirection N/A N/A np array N/A 1.0 0.0 0.0 N/A N/A N/A viewFrame TransformVector forwardDirection forwardDirection N/A robotOrigin N/A N/A viewFrame GetPosition N/A robotForward forwardDirection N/A centroid N/A N/A N/A clusterId cluster N/A enumerate clusters N/A N/A clusterObj N/A updatePolyData cluster N/A surface cluster %d clusterId color N/A 1 1 0 parent N/A getDebugFolder visible False N/A N/A origin edges _ N/A getOrientedBoundingBox cluster N/A edgeLengths N/A N/A N/A N/A np linalg norm edge N/A edge N/A edges N/A 2 N/A skipCluster False N/A edgeLength edgeLengths N/A N/A N/A N/A edgeLength 0.35 N/A edgeLength 0.75 N/A N/A skipCluster True N/A skipCluster N/A N/A N/A N/A N/A clusterObj setSolidColor N/A 0 0 1 N/A centroid N/A N/A np average N/A N/A vtkNumpy getNumpyFromVtk cluster Points axis 0 N/A N/A N/A drillFrame N/A segmentDrillBarrelFrame centroid polyData scenePoints forwardDirection robotForward N/A N/A drillFrame None N/A N/A N/A N/A fitResults append N/A clusterObj drillFrame N/A N/A N/A N/A N/A N/A traceback format_exc N/A fit drill failed for cluster: clusterId N/A N/A fitResults N/A N/A N/A N/A sortFittedDrills fitResults robotOrigin robotForward N/A centroid N/A sortFittedDrills N/A N/A fitResults robotOrigin robotForward N/A N/A N/A angleToFitResults N/A N/A fitResult fitResults N/A N/A N/A cluster drillFrame fitResult N/A drillOrigin N/A N/A np array N/A N/A drillFrame GetPosition N/A angleToDrill N/A N/A np abs N/A computeSignedAngleBetweenVectors robotForward N/A drillOrigin robotOrigin N/A 0 0 1 N/A N/A N/A angleToFitResults append N/A angleToDrill cluster drillFrame N/A N/A N/A angleToFitResults sort key N/A N/A N/A x N/A N/A x N/A 0 N/A drillMesh N/A getDrillBarrelMesh N/A N/A i fitResult N/A enumerate angleToFitResults N/A N/A N/A angleToDrill cluster drillFrame fitResult N/A N/A i 0 N/A N/A drill N/A N/A om findObjectByName drill N/A drill N/A updatePolyData drillMesh drill color N/A 0 1 0 cls FrameAffordanceItem visible True N/A drillFrame N/A updateFrame drillFrame drill frame parent drill visible False N/A N/A N/A N/A drill actor SetUserTransform N/A drillFrame transform N/A N/A N/A drill setAffordanceParams N/A dict otdf_type dewalt_button friendly_name dewalt_button N/A N/A N/A drill updateParamsFromActorTransform N/A N/A N/A drill setSolidColor N/A 0 1 0 N/A N/A drill N/A showPolyData drillMesh drill candidate color N/A 1 0 0 visible False parent N/A getDebugFolder N/A N/A N/A N/A drill actor SetUserTransform drillFrame N/A N/A N/A om addToObjectModel drill parentObj N/A getDebugFolder N/A computeSignedAngleBetweenVectors N/A N/A v1 v2 perpendicularVector N/A N/A N/A 
    Computes the signed angle between two vectors in 3d, given a perpendicular vector
    to determine sign.  Result returned is radians.
     N/A v1 N/A N/A np array v1 N/A v2 N/A N/A np array v2 N/A perpendicularVector N/A N/A np array perpendicularVector N/A v1 N/A N/A N/A np linalg norm v1 N/A v2 N/A N/A N/A np linalg norm v2 N/A perpendicularVector N/A N/A N/A np linalg norm perpendicularVector N/A N/A N/A math atan2 N/A N/A np dot perpendicularVector N/A N/A np cross v1 v2 N/A N/A np dot v1 v2 N/A segmentDrillBarrelFrame N/A N/A point1 polyData forwardDirection N/A N/A N/A tableClusterSearchRadius 0.4 N/A drillClusterSearchRadius 0.5 N/A expectedNormal N/A N/A np array N/A 0.0 0.0 1.0 N/A N/A N/A N/A polyData GetNumberOfPoints N/A N/A N/A N/A polyData plane_origin plane_normal N/A applyPlaneFit polyData expectedNormal expectedNormal perpendicularAxis expectedNormal searchOrigin point1 searchRadius tableClusterSearchRadius angleEpsilon 0.2 returnOrigin True N/A N/A N/A N/A polyData GetNumberOfPoints N/A N/A N/A tablePoints N/A thresholdPoints polyData dist_to_plane N/A -0.01 0.01 N/A N/A updatePolyData tablePoints table plane points parent N/A getDebugFolder visible False N/A tablePoints N/A labelDistanceToPoint tablePoints point1 N/A tablePointsClusters N/A extractClusters tablePoints N/A N/A N/A tablePointsClusters sort key N/A N/A N/A x N/A N/A N/A N/A N/A vtkNumpy getNumpyFromVtk x distance_to_point min N/A N/A tablePointsClusters N/A N/A N/A tablePoints N/A tablePointsClusters N/A 0 N/A N/A updatePolyData tablePoints table points parent N/A getDebugFolder visible False N/A searchRegion N/A thresholdPoints polyData dist_to_plane N/A 0.02 0.3 N/A N/A N/A N/A searchRegion GetNumberOfPoints N/A N/A N/A searchRegion N/A cropToSphere searchRegion point1 drillClusterSearchRadius N/A t N/A fitDrillBarrel searchRegion forwardDirection plane_origin plane_normal N/A t N/A segmentDrillBarrel N/A N/A point1 N/A N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A forwardDirection N/A N/A N/A np array N/A N/A N/A N/A N/A getCurrentView camera GetViewPlaneNormal N/A t N/A segmentDrillBarrel point1 polyData forwardDirection N/A N/A t None N/A drillMesh N/A getDrillBarrelMesh N/A aff N/A showPolyData drillMesh drill visible True N/A N/A N/A aff addToView N/A N/A app getDRCView N/A N/A N/A N/A aff actor SetUserTransform t N/A drillFrame N/A showFrame t drill frame parent aff visible False N/A N/A N/A drillFrame addToView N/A N/A app getDRCView N/A N/A aff drillFrame N/A segmentDrillAlignedWithTable N/A N/A point polyData N/A None N/A N/A 
    Yet Another Drill Fitting Algorithm [tm]
    This one fits the button drill assuming its on the table
    and aligned with the table frame (because the button drill orientation is difficult to find)
    Table must have long side facing robot
     N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A polyData N/A inputObj polyData N/A N/A polyDataOut tablePoints origin normal N/A segmentTable polyData point N/A N/A OBBorigin edges _ N/A getOrientedBoundingBox tablePoints N/A edgeLengths N/A N/A np array N/A N/A N/A N/A np linalg norm edge N/A edge edges N/A axes N/A N/A edge N/A N/A N/A np linalg norm edge N/A edge edges N/A viewDirection N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewDirection N/A N/A N/A N/A np dot N/A axes N/A 1 viewDirection 0 N/A N/A N/A axes N/A 1 N/A N/A axes N/A 1 N/A xaxis N/A axes N/A 1 N/A xaxis N/A N/A np array xaxis N/A zaxis N/A N/A np array normal N/A yaxis N/A N/A np cross zaxis xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A tableOrientation N/A N/A transformUtils getTransformFromAxes xaxis yaxis zaxis N/A data N/A segmentTableScene polyData point N/A drillTransform N/A N/A transformUtils frameFromPositionAndRPY N/A N/A N/A N/A N/A data clusters N/A 0 frame GetPosition N/A N/A tableOrientation GetOrientation N/A drillMesh N/A getDrillMesh N/A drill N/A N/A om findObjectByName drill N/A N/A N/A om removeFromObjectModel drill N/A aff N/A showPolyData drillMesh drill color N/A 0.0 1.0 0.0 cls FrameAffordanceItem visible True N/A N/A N/A N/A aff actor SetUserTransform drillTransform N/A N/A N/A aff addToView N/A N/A app getDRCView N/A frameObj N/A updateFrame drillTransform drill frame parent aff scale 0.2 visible False N/A N/A N/A frameObj addToView N/A N/A app getDRCView N/A params N/A getDrillAffordanceParams N/A N/A np array N/A N/A drillTransform GetPosition N/A 1 0 0 N/A 0 1 0 N/A 0 0 1 drillType dewalt_button N/A N/A N/A aff setAffordanceParams params N/A segmentDrillInHand N/A N/A p1 p2 N/A N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A distanceToLineThreshold 0.05 N/A polyData N/A labelDistanceToLine polyData p1 p2 N/A polyData N/A thresholdPoints polyData distance_to_line N/A 0.0 distanceToLineThreshold N/A lineSegment N/A p2 p1 N/A lineLength N/A N/A N/A np linalg norm lineSegment N/A N/A cropped polyData N/A cropToPlane polyData p1 N/A lineSegment lineLength N/A -0.03 N/A lineLength 0.03 N/A N/A updatePolyData cropped drill cluster parent N/A getDebugFolder visible False N/A drillPoints cropped N/A normal N/A lineSegment lineLength N/A centroids N/A computeCentroids drillPoints axis normal N/A centroidsPolyData N/A N/A vtkNumpy getVtkPolyDataFromNumpyPoints centroids N/A d N/A DebugData N/A N/A updatePolyData centroidsPolyData cluster centroids parent N/A getDebugFolder visible False N/A drillToTopPoint N/A N/A np array N/A -0.002904 -0.010029 0.153182 N/A zaxis normal N/A yaxis N/A N/A centroids N/A 0 N/A centroids N/A -1 N/A yaxis N/A N/A N/A np linalg norm yaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A yaxis N/A N/A np cross zaxis xaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PreMultiply N/A N/A N/A t Translate N/A drillToTopPoint N/A N/A N/A t PostMultiply N/A N/A N/A t Translate p2 N/A drillMesh N/A getDrillMesh N/A aff N/A showPolyData drillMesh drill cls FrameAffordanceItem visible True N/A N/A N/A N/A aff actor SetUserTransform t N/A N/A N/A N/A showFrame t drill frame parent aff visible False addToView N/A N/A app getDRCView N/A params N/A getDrillAffordanceParams N/A N/A np array N/A N/A t GetPosition xaxis yaxis zaxis N/A N/A N/A aff setAffordanceParams params N/A N/A N/A aff updateParamsFromActorTransform N/A N/A N/A aff addToView N/A N/A app getDRCView N/A addDrillAffordance N/A N/A N/A N/A N/A drillMesh N/A getDrillMesh N/A aff N/A showPolyData drillMesh drill cls FrameAffordanceItem visible True N/A t N/A N/A vtk vtkTransform N/A N/A N/A t PostMultiply N/A N/A N/A N/A aff actor SetUserTransform t N/A N/A N/A N/A showFrame t drill frame parent aff visible False addToView N/A N/A app getDRCView N/A params N/A getDrillAffordanceParams N/A N/A np array N/A N/A t GetPosition N/A 1 0 0 N/A 0 1 0 N/A 0 0 1 N/A N/A N/A aff setAffordanceParams params N/A N/A N/A aff updateParamsFromActorTransform N/A N/A N/A aff addToView N/A N/A app getDRCView N/A aff N/A getLinkFrame N/A N/A linkName N/A N/A N/A robotStateModel N/A N/A om findObjectByName robot state model N/A robotStateModel N/A robotStateModel N/A getVisibleRobotModel N/A robotStateModel N/A t N/A N/A vtk vtkTransform N/A N/A N/A N/A robotStateModel model getLinkToWorld linkName t N/A t N/A getDrillInHandOffset N/A N/A zRotation zTranslation xTranslation yTranslation flip N/A 0.0 0.0 0.0 0.0 False N/A N/A drillOffset N/A N/A vtk vtkTransform N/A N/A N/A drillOffset PostMultiply N/A flip N/A N/A N/A N/A drillOffset RotateY 180 N/A N/A N/A drillOffset RotateZ zRotation N/A N/A N/A drillOffset RotateY -90 N/A N/A N/A drillOffset Translate zTranslation xTranslation N/A 0.0 yTranslation N/A drillOffset N/A moveDrillToHand N/A N/A drillOffset hand N/A right N/A N/A drill N/A N/A om findObjectByName drill N/A N/A drill N/A N/A drill N/A addDrillAffordance N/A N/A hand N/A right left N/A drillTransform N/A N/A N/A drill actor GetUserTransform N/A rightBaseLink N/A getLinkFrame N/A %s_hand_face N/A hand N/A 0 N/A N/A N/A drillTransform PostMultiply N/A N/A N/A drillTransform Identity N/A N/A N/A drillTransform Concatenate drillOffset N/A N/A N/A drillTransform Concatenate rightBaseLink N/A N/A N/A drill _renderAllViews N/A PointPicker N/A TimerCallback N/A __init__ N/A N/A self numberOfPoints N/A 3 N/A N/A N/A N/A TimerCallback __init__ self N/A N/A self targetFps 30 N/A N/A self enabled False N/A N/A self numberOfPoints numberOfPoints N/A N/A self annotationObj None N/A N/A self drawLines True N/A N/A N/A self clear N/A clear N/A N/A self N/A N/A N/A N/A self points N/A None N/A i N/A xrange N/A self numberOfPoints N/A N/A self hoverPos None N/A N/A self annotationFunc None N/A N/A self lastMovePos N/A 0 0 N/A onMouseMove N/A N/A self displayPoint modifiers N/A None N/A N/A N/A self lastMovePos displayPoint N/A onMousePress N/A N/A self displayPoint modifiers N/A None N/A N/A i N/A xrange N/A self numberOfPoints N/A N/A N/A N/A N/A self points N/A i None N/A N/A N/A N/A self points N/A i N/A self hoverPos N/A N/A N/A N/A N/A self points N/A -1 None N/A N/A N/A N/A self finish N/A finish N/A N/A self N/A N/A N/A N/A self enabled False N/A N/A N/A om removeFromObjectModel N/A self annotationObj N/A points N/A N/A N/A p copy N/A p N/A self points N/A N/A N/A self annotationFunc None N/A N/A N/A N/A self annotationFunc points N/A N/A removeViewPicker self N/A handleRelease N/A N/A self displayPoint N/A N/A N/A N/A draw N/A N/A self N/A N/A N/A d N/A DebugData N/A points N/A N/A N/A p None p N/A self hoverPos N/A p N/A self points N/A p points N/A N/A N/A p None N/A N/A N/A N/A d addSphere p radius 0.01 N/A N/A self drawLines N/A N/A N/A a b N/A zip points N/A points N/A 1 N/A N/A N/A b None N/A N/A N/A N/A d addLine a b N/A N/A N/A points N/A -1 None N/A N/A N/A N/A d addLine N/A points N/A 0 N/A points N/A -1 N/A N/A self annotationObj N/A updatePolyData N/A N/A d getPolyData annotation parent N/A getDebugFolder N/A N/A N/A N/A self annotationObj setProperty Color N/A N/A QtGui QColor 0 255 0 N/A N/A N/A N/A N/A self annotationObj actor SetPickable False N/A tick N/A N/A self N/A N/A N/A N/A N/A self enabled N/A N/A N/A N/A N/A N/A om findObjectByName pointcloud snapshot N/A N/A N/A self annotationFunc None N/A N/A N/A self finish N/A N/A N/A self hoverPos N/A pickPoint N/A self lastMovePos N/A getSegmentationView obj pointcloud snapshot N/A N/A N/A self draw N/A N/A LineDraw N/A TimerCallback N/A __init__ N/A N/A self view N/A N/A N/A N/A N/A TimerCallback __init__ self N/A N/A self targetFps 30 N/A N/A self enabled False N/A N/A self view view N/A N/A self renderer N/A N/A view renderer N/A N/A self line N/A N/A vtk vtkLeaderActor2D N/A N/A N/A N/A self line SetArrowPlacementToNone N/A N/A N/A N/A N/A N/A self line GetPositionCoordinate SetCoordinateSystemToViewport N/A N/A N/A N/A N/A N/A self line GetPosition2Coordinate SetCoordinateSystemToViewport N/A N/A N/A N/A N/A N/A self line GetProperty SetLineWidth 4 N/A N/A N/A N/A self line SetPosition 0 0 N/A N/A N/A N/A self line SetPosition2 0 0 N/A N/A N/A self clear N/A clear N/A N/A self N/A N/A N/A N/A self p1 None N/A N/A self p2 None N/A N/A self annotationFunc None N/A N/A self lastMovePos N/A 0 0 N/A N/A N/A N/A self renderer RemoveActor2D N/A self line N/A onMouseMove N/A N/A self displayPoint modifiers N/A None N/A N/A N/A self lastMovePos displayPoint N/A onMousePress N/A N/A self displayPoint modifiers N/A None N/A N/A N/A N/A self p1 None N/A N/A N/A self p1 N/A list N/A self lastMovePos N/A N/A N/A self p1 None N/A N/A N/A N/A N/A self renderer AddActor2D N/A self line N/A N/A N/A self p2 N/A self lastMovePos N/A N/A N/A self finish N/A finish N/A N/A self N/A N/A N/A N/A self enabled False N/A N/A N/A N/A self renderer RemoveActor2D N/A self line N/A N/A N/A self annotationFunc None N/A N/A N/A N/A self annotationFunc N/A self p1 N/A self p2 N/A handleRelease N/A N/A self displayPoint N/A N/A N/A N/A tick N/A N/A self N/A N/A N/A N/A N/A self enabled N/A N/A N/A N/A self p1 N/A N/A N/A N/A N/A self line SetPosition N/A self p1 N/A N/A N/A N/A self line SetPosition2 N/A self lastMovePos N/A N/A N/A N/A self view render N/A N/A N/A viewPickers N/A addViewPicker N/A N/A picker N/A N/A N/A viewPickers N/A N/A N/A viewPickers append picker N/A removeViewPicker N/A N/A picker N/A N/A N/A viewPickers N/A N/A N/A viewPickers remove picker N/A distanceToLine N/A N/A x0 x1 x2 N/A N/A N/A numerator N/A N/A np sqrt N/A N/A np sum N/A N/A N/A np cross N/A x0 x1 N/A x0 x2 2 N/A denom N/A N/A N/A np linalg norm N/A x2 x1 N/A N/A numerator denom N/A labelDistanceToLine N/A N/A polyData linePoint1 linePoint2 resultArrayName N/A distance_to_line N/A N/A x0 N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A x1 N/A N/A np array linePoint1 N/A x2 N/A N/A np array linePoint2 N/A numerator N/A N/A np sqrt N/A N/A np sum N/A N/A N/A np cross N/A x0 x1 N/A x0 x2 2 axis 1 N/A denom N/A N/A N/A np linalg norm N/A x2 x1 N/A dists N/A numerator denom N/A polyData N/A shallowCopy polyData N/A N/A N/A vtkNumpy addNumpyToVtk polyData dists resultArrayName N/A polyData N/A labelDistanceToPoint N/A N/A polyData point resultArrayName N/A distance_to_point N/A N/A N/A N/A polyData GetNumberOfPoints N/A points N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A points N/A points point N/A dists N/A N/A np sqrt N/A N/A np sum N/A points 2 axis 1 N/A polyData N/A shallowCopy polyData N/A N/A N/A vtkNumpy addNumpyToVtk polyData dists resultArrayName N/A polyData N/A getPlaneEquationFromPolyData N/A N/A polyData expectedNormal N/A N/A N/A N/A _ origin normal N/A applyPlaneFit polyData expectedNormal expectedNormal returnOrigin True N/A N/A origin normal N/A N/A np hstack N/A normal N/A N/A N/A np dot origin normal N/A computeEdge N/A N/A polyData edgeAxis perpAxis binWidth N/A 0.03 N/A N/A polyData N/A labelPointDistanceAlongAxis polyData edgeAxis resultArrayName dist_along_edge N/A polyData N/A labelPointDistanceAlongAxis polyData perpAxis resultArrayName dist_perp_to_edge N/A N/A polyData bins N/A binByScalar polyData dist_along_edge binWidth N/A points N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A binLabels N/A N/A vtkNumpy getNumpyFromVtk polyData bin_labels N/A distToEdge N/A N/A vtkNumpy getNumpyFromVtk polyData dist_perp_to_edge N/A numberOfBins N/A N/A len bins 1 N/A edgePoints N/A N/A i N/A xrange numberOfBins N/A N/A binPoints N/A points N/A N/A binLabels i N/A binDists N/A distToEdge N/A N/A binLabels i N/A N/A len binDists N/A N/A N/A N/A edgePoints append N/A binPoints N/A N/A N/A binDists argmax N/A N/A N/A np array edgePoints N/A computeCentroids N/A N/A polyData axis binWidth N/A 0.025 N/A N/A polyData N/A labelPointDistanceAlongAxis polyData axis resultArrayName dist_along_axis N/A N/A polyData bins N/A binByScalar polyData dist_along_axis binWidth N/A points N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A binLabels N/A N/A vtkNumpy getNumpyFromVtk polyData bin_labels N/A numberOfBins N/A N/A len bins 1 N/A centroids N/A N/A i N/A xrange numberOfBins N/A N/A binPoints N/A points N/A N/A binLabels i N/A N/A len binPoints N/A N/A N/A N/A centroids append N/A N/A np average binPoints axis 0 N/A N/A N/A np array centroids N/A computePointCountsAlongAxis N/A N/A polyData axis binWidth N/A 0.025 N/A N/A polyData N/A labelPointDistanceAlongAxis polyData axis resultArrayName dist_along_axis N/A N/A polyData bins N/A binByScalar polyData dist_along_axis binWidth N/A points N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A binLabels N/A N/A vtkNumpy getNumpyFromVtk polyData bin_labels N/A numberOfBins N/A N/A len bins 1 N/A binCount N/A N/A i N/A xrange numberOfBins N/A N/A binPoints N/A points N/A N/A binLabels i N/A N/A N/A binCount append N/A len binPoints N/A N/A N/A np array binCount N/A binByScalar N/A N/A lidarData scalarArrayName binWidth binLabelsArrayName N/A bin_labels N/A N/A 
    Gets the array with name scalarArrayName from lidarData.
    Computes bins by dividing the scalar array into bins of size binWidth.
    Adds a new label array to the lidar points identifying which bin the point belongs to,
    where the first bin is labeled with 0.
    Returns the new, labeled lidar data and the bins.
    The bins are an array where each value represents a bin edge.
     N/A scalars N/A N/A vtkNumpy getNumpyFromVtk lidarData scalarArrayName N/A bins N/A N/A np arange N/A N/A scalars min N/A N/A N/A scalars max binWidth binWidth N/A binLabels N/A N/A N/A np digitize scalars bins 1 N/A N/A N/A len binLabels N/A len scalars N/A newData N/A shallowCopy lidarData N/A N/A N/A vtkNumpy addNumpyToVtk newData binLabels binLabelsArrayName N/A N/A newData bins N/A showObbs N/A N/A polyData N/A N/A N/A labelsArrayName cluster_labels N/A N/A N/A N/A N/A polyData GetPointData GetArray labelsArrayName N/A f N/A N/A vtk vtkAnnotateOBBs N/A N/A N/A f SetInputArrayToProcess 0 0 0 N/A N/A vtk vtkDataObject FIELD_ASSOCIATION_POINTS labelsArrayName N/A N/A N/A f SetInput polyData N/A N/A N/A f Update N/A N/A showPolyData N/A N/A f GetOutput bboxes N/A getOrientedBoundingBox N/A N/A polyData N/A N/A N/A 
    returns origin, edges, and outline wireframe
     N/A nPoints N/A N/A polyData GetNumberOfPoints N/A nPoints N/A polyData N/A shallowCopy polyData N/A labelsArrayName bbox_labels N/A labels N/A N/A np ones nPoints N/A N/A N/A vtkNumpy addNumpyToVtk polyData labels labelsArrayName N/A f N/A N/A vtk vtkAnnotateOBBs N/A N/A N/A f SetInputArrayToProcess 0 0 0 N/A N/A vtk vtkDataObject FIELD_ASSOCIATION_POINTS labelsArrayName N/A N/A N/A f SetInput polyData N/A N/A N/A f Update N/A N/A N/A N/A f GetNumberOfBoundingBoxes 1 N/A origin N/A N/A np zeros 3 N/A edges N/A N/A N/A np zeros 3 N/A i N/A xrange 3 N/A N/A N/A f GetBoundingBoxOrigin 0 origin N/A i N/A xrange 3 N/A N/A N/A N/A f GetBoundingBoxEdge 0 i N/A edges N/A i N/A N/A origin edges N/A shallowCopy N/A N/A f GetOutput N/A segmentBlockByAnnotation N/A N/A blockDimensions p1 p2 p3 N/A N/A N/A segmentationObj N/A N/A om findObjectByName pointcloud snapshot N/A N/A N/A N/A segmentationObj mapper ScalarVisibilityOff N/A N/A N/A segmentationObj setProperty Point Size 2 N/A N/A N/A segmentationObj setProperty Alpha 0.8 N/A zedge N/A p2 p1 N/A zaxis N/A zedge N/A N/A N/A np linalg norm zedge N/A N/A xwidth ywidth blockDimensions N/A zwidth N/A N/A N/A np linalg norm zedge N/A yaxis N/A N/A np cross N/A p2 p1 N/A p3 p1 N/A yaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A viewPlaneNormal N/A N/A N/A N/A N/A getSegmentationView camera GetViewPlaneNormal N/A N/A N/A N/A np dot yaxis viewPlaneNormal 0 N/A N/A yaxis -1 N/A N/A N/A N/A np dot xaxis N/A p3 p1 0 N/A N/A xaxis -1 N/A zaxis N/A N/A np cross xaxis yaxis N/A origin N/A N/A N/A N/A p1 p2 2.0 N/A N/A xaxis xwidth 2.0 N/A N/A yaxis ywidth 2.0 N/A d N/A DebugData N/A N/A N/A d addSphere origin radius 0.01 N/A N/A N/A d addLine N/A origin N/A N/A xaxis xwidth 2.0 N/A origin N/A N/A xaxis xwidth 2.0 N/A N/A N/A d addLine N/A origin N/A N/A yaxis ywidth 2.0 N/A origin N/A N/A yaxis ywidth 2.0 N/A N/A N/A d addLine N/A origin N/A N/A zaxis zwidth 2.0 N/A origin N/A N/A zaxis zwidth 2.0 N/A obj N/A updatePolyData N/A N/A d getPolyData block axes N/A N/A N/A obj setProperty Color N/A N/A QtGui QColor 255 255 0 N/A N/A N/A obj setProperty Visible False N/A N/A N/A N/A N/A om findObjectByName annotation setProperty Visible False N/A cube N/A N/A vtk vtkCubeSource N/A N/A N/A cube SetXLength xwidth N/A N/A N/A cube SetYLength ywidth N/A N/A N/A cube SetZLength zwidth N/A N/A N/A cube Update N/A cube N/A shallowCopy N/A N/A cube GetOutput N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate origin N/A obj N/A updatePolyData cube block affordance cls BlockAffordanceItem parent affordances N/A N/A N/A N/A obj actor SetUserTransform t N/A N/A N/A obj addToView N/A N/A app getDRCView N/A params N/A dict origin origin xwidth xwidth ywidth ywidth zwidth zwidth xaxis xaxis yaxis yaxis zaxis zaxis N/A N/A N/A obj setAffordanceParams params N/A N/A N/A obj updateParamsFromActorTransform N/A getBoardCorners N/A N/A params N/A N/A N/A axes N/A N/A N/A np array N/A params N/A axis N/A axis N/A xaxis yaxis zaxis N/A widths N/A N/A N/A N/A np array N/A params N/A axis 2.0 N/A axis N/A xwidth ywidth zwidth N/A edges N/A N/A N/A axes N/A i N/A widths N/A i N/A i N/A xrange 3 N/A origin N/A N/A np array N/A params N/A origin N/A N/A N/A N/A N/A origin N/A edges N/A 0 N/A edges N/A 1 N/A edges N/A 2 N/A N/A N/A origin N/A edges N/A 0 N/A edges N/A 1 N/A edges N/A 2 N/A N/A N/A origin N/A edges N/A 0 N/A edges N/A 1 N/A edges N/A 2 N/A N/A N/A origin N/A edges N/A 0 N/A edges N/A 1 N/A edges N/A 2 N/A N/A N/A origin N/A edges N/A 0 N/A edges N/A 1 N/A edges N/A 2 N/A N/A N/A origin N/A edges N/A 0 N/A edges N/A 1 N/A edges N/A 2 N/A N/A N/A origin N/A edges N/A 0 N/A edges N/A 1 N/A edges N/A 2 N/A N/A N/A origin N/A edges N/A 0 N/A edges N/A 1 N/A edges N/A 2 N/A getPointDistances N/A N/A target points N/A N/A N/A N/A N/A np array N/A N/A N/A N/A np linalg norm N/A target p N/A p points N/A computeClosestCorner N/A N/A aff referenceFrame N/A N/A N/A corners N/A getBoardCorners N/A aff params N/A dists N/A getPointDistances N/A N/A np array N/A N/A referenceFrame GetPosition corners N/A N/A corners N/A N/A N/A dists argmin N/A computeGroundFrame N/A N/A aff referenceFrame N/A N/A N/A refAxis N/A 0.0 -1.0 0.0 N/A N/A N/A referenceFrame TransformVector refAxis refAxis N/A refAxis N/A N/A np array refAxis N/A axes N/A N/A N/A np array N/A N/A aff params N/A axis N/A axis N/A xaxis yaxis zaxis N/A axisProjections N/A N/A np array N/A N/A N/A np abs N/A N/A np dot axis refAxis N/A axis axes N/A boardAxis N/A axes N/A N/A N/A axisProjections argmax N/A N/A N/A N/A np dot boardAxis refAxis 0 N/A N/A boardAxis N/A boardAxis N/A xaxis boardAxis N/A zaxis N/A N/A np array N/A 0.0 0.0 1.0 N/A yaxis N/A N/A np cross zaxis xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A closestCorner N/A computeClosestCorner aff referenceFrame N/A groundFrame N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A groundFrame PostMultiply N/A N/A N/A groundFrame Translate N/A closestCorner N/A 0 N/A closestCorner N/A 1 0.0 N/A groundFrame N/A computeCornerFrame N/A N/A aff referenceFrame N/A N/A N/A refAxis N/A 0.0 -1.0 0.0 N/A N/A N/A referenceFrame TransformVector refAxis refAxis N/A refAxis N/A N/A np array refAxis N/A axes N/A N/A N/A np array N/A N/A aff params N/A axis N/A axis N/A xaxis yaxis zaxis N/A edgeLengths N/A edgeLength N/A edgeLength N/A xwidth ywidth zwidth N/A axisProjections N/A N/A np array N/A N/A N/A np abs N/A N/A np dot axis refAxis N/A axis axes N/A boardAxis N/A axes N/A N/A N/A axisProjections argmax N/A N/A N/A N/A np dot boardAxis refAxis 0 N/A N/A boardAxis N/A boardAxis N/A longAxis N/A axes N/A N/A N/A np argmax edgeLengths N/A xaxis boardAxis N/A yaxis N/A axes N/A 2 N/A zaxis N/A N/A np cross xaxis yaxis N/A closestCorner N/A computeClosestCorner aff referenceFrame N/A cornerFrame N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A cornerFrame PostMultiply N/A N/A N/A cornerFrame Translate closestCorner N/A cornerFrame N/A publishTriad N/A N/A transform collectionId N/A 1234 N/A N/A o N/A N/A lcmvs obj_t N/A xyz N/A N/A transform GetPosition N/A rpy N/A N/A transformUtils rollPitchYawFromTransform transform N/A N/A N/A o roll N/A o pitch N/A o yaw rpy N/A N/A N/A o x N/A o y N/A o z xyz N/A N/A o id 1 N/A m N/A N/A lcmvs obj_collection_t N/A N/A m id collectionId N/A N/A m name stance_triads N/A N/A m type N/A N/A lcmvs obj_collection_t AXIS3D N/A N/A m nobjs 1 N/A N/A m reset False N/A N/A m objs N/A o N/A N/A N/A lcmUtils publish OBJ_COLLECTION m N/A createBlockAffordance N/A N/A origin xaxis yaxis zaxis xwidth ywidth zwidth name parent N/A affordances N/A N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate origin N/A obj N/A BoxAffordanceItem name view N/A N/A app getCurrentRenderView N/A N/A N/A obj setProperty Dimensions N/A N/A float v N/A v N/A xwidth ywidth zwidth N/A N/A N/A N/A obj actor SetUserTransform t N/A N/A N/A om addToObjectModel obj parentObj N/A N/A om getOrCreateContainer parent N/A frameObj N/A N/A vis showFrame t N/A name  frame scale 0.2 visible False parent obj N/A N/A N/A obj addToView N/A N/A app getDRCView N/A N/A N/A frameObj addToView N/A N/A app getDRCView N/A N/A N/A affordanceManager registerAffordance obj N/A obj N/A segmentBlockByTopPlane N/A N/A polyData blockDimensions expectedNormal expectedXAxis edgeSign name N/A 1 block affordance N/A N/A N/A polyData planeOrigin normal N/A applyPlaneFit polyData distanceThreshold 0.05 expectedNormal expectedNormal returnOrigin True N/A N/A _ lineDirection _ N/A applyLineFit polyData N/A zaxis lineDirection N/A yaxis normal N/A xaxis N/A N/A np cross yaxis zaxis N/A N/A N/A N/A np dot xaxis expectedXAxis 0 N/A N/A xaxis -1 N/A zaxis N/A N/A np cross xaxis yaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A zaxis N/A N/A N/A np linalg norm zaxis N/A expectedXAxis N/A N/A np array xaxis N/A edgePoints N/A computeEdge polyData zaxis N/A xaxis edgeSign N/A edgePoints N/A N/A vtkNumpy getVtkPolyDataFromNumpyPoints edgePoints N/A d N/A DebugData N/A obj N/A updatePolyData edgePoints edge points parent N/A getDebugFolder visible False N/A N/A linePoint lineDirection _ N/A applyLineFit edgePoints N/A zaxis lineDirection N/A xaxis N/A N/A np cross yaxis zaxis N/A N/A N/A N/A np dot xaxis expectedXAxis 0 N/A N/A xaxis -1 N/A zaxis N/A N/A np cross xaxis yaxis N/A xaxis N/A N/A N/A np linalg norm xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A zaxis N/A N/A N/A np linalg norm zaxis N/A polyData N/A labelPointDistanceAlongAxis polyData xaxis resultArrayName dist_along_line N/A pts N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A dists N/A N/A np dot N/A pts linePoint zaxis N/A p1 N/A linePoint N/A zaxis N/A N/A np min dists N/A p2 N/A linePoint N/A zaxis N/A N/A np max dists N/A p1 N/A projectPointToPlane p1 planeOrigin normal N/A p2 N/A projectPointToPlane p2 planeOrigin normal N/A N/A xwidth ywidth blockDimensions N/A zwidth N/A N/A N/A np linalg norm N/A p2 p1 N/A origin N/A N/A N/A p1 N/A N/A N/A edgeSign xaxis xwidth 2.0 N/A N/A yaxis ywidth 2.0 N/A N/A zaxis zwidth 2.0 N/A d N/A DebugData N/A N/A N/A d addSphere p1 radius 0.01 N/A N/A N/A d addSphere p2 radius 0.01 N/A N/A N/A d addLine p1 p2 N/A N/A N/A d addSphere origin radius 0.01 N/A N/A N/A d addLine origin N/A origin N/A N/A xaxis xwidth 2.0 N/A N/A N/A d addLine origin N/A origin N/A N/A yaxis ywidth 2.0 N/A N/A N/A d addLine origin N/A origin N/A N/A zaxis zwidth 2.0 N/A obj N/A createBlockAffordance origin xaxis yaxis zaxis xwidth ywidth zwidth name N/A N/A N/A obj setProperty Color N/A N/A 222 255.0 N/A 184 255.0 N/A 135 255.0 N/A N/A computeDebrisGraspSeed obj N/A t N/A computeDebrisStanceFrame obj N/A t N/A N/A N/A showFrame t debris stance frame parent obj N/A N/A obj publishCallback N/A N/A functools partial publishDebrisStanceFrame obj N/A obj N/A computeDebrisGraspSeed N/A N/A aff N/A N/A N/A debrisReferenceFrame N/A N/A om findObjectByName debris reference frame N/A debrisReferenceFrame N/A N/A debrisReferenceFrame N/A debrisReferenceFrame transform N/A affCornerFrame N/A computeCornerFrame aff debrisReferenceFrame N/A N/A showFrame affCornerFrame board corner frame parent aff visible False N/A computeDebrisStanceFrame N/A N/A aff N/A N/A N/A debrisReferenceFrame N/A N/A om findObjectByName debris reference frame N/A debrisWallEdge N/A N/A om findObjectByName debris plane edge N/A N/A debrisReferenceFrame debrisWallEdge N/A N/A debrisReferenceFrame N/A debrisReferenceFrame transform N/A affGroundFrame N/A computeGroundFrame aff debrisReferenceFrame N/A N/A updateFrame affGroundFrame board ground frame parent N/A getDebugFolder visible False N/A affWallEdge N/A computeGroundFrame aff debrisReferenceFrame N/A framePos N/A N/A np array N/A N/A affGroundFrame GetPosition N/A N/A p1 p2 N/A debrisWallEdge points N/A edgeAxis N/A p2 p1 N/A edgeAxis N/A N/A N/A np linalg norm edgeAxis N/A projectedPos N/A p1 N/A edgeAxis N/A N/A np dot N/A framePos p1 edgeAxis N/A affWallFrame N/A N/A vtk vtkTransform N/A N/A N/A affWallFrame PostMultiply N/A useWallFrameForRotation True N/A useWallFrameForRotation N/A N/A N/A N/A affWallFrame SetMatrix N/A N/A debrisReferenceFrame GetMatrix N/A N/A N/A affWallFrame Translate N/A projectedPos N/A N/A np array N/A N/A debrisReferenceFrame GetPosition N/A stanceWidth 0.2 N/A stanceOffsetX -0.35 N/A stanceOffsetY 0.45 N/A stanceRotation 0.0 N/A N/A N/A N/A affWallFrame SetMatrix N/A N/A affGroundFrame GetMatrix N/A N/A N/A affWallFrame Translate N/A projectedPos framePos N/A stanceWidth 0.2 N/A stanceOffsetX -0.35 N/A stanceOffsetY -0.45 N/A stanceRotation N/A N/A math pi 2.0 N/A N/A stanceFrame _ _ N/A getFootFramesFromReferenceFrame affWallFrame stanceWidth N/A N/A math degrees stanceRotation N/A stanceOffsetX stanceOffsetY 0.0 N/A stanceFrame N/A publishDebrisStanceFrame N/A N/A aff N/A N/A N/A frame N/A computeDebrisStanceFrame aff N/A N/A publishTriad frame N/A segmentBlockByPlanes N/A N/A blockDimensions N/A N/A N/A planes N/A N/A N/A N/A N/A om findObjectByName selected planes children N/A 2 N/A viewPlaneNormal N/A N/A N/A N/A N/A getSegmentationView camera GetViewPlaneNormal N/A N/A origin1 normal1 plane1 N/A getPlaneEquationFromPolyData N/A N/A planes N/A 0 polyData expectedNormal viewPlaneNormal N/A N/A origin2 normal2 plane2 N/A getPlaneEquationFromPolyData N/A N/A planes N/A 1 polyData expectedNormal viewPlaneNormal N/A xaxis normal2 N/A yaxis normal1 N/A zaxis N/A N/A np cross xaxis yaxis N/A xaxis N/A N/A np cross yaxis zaxis N/A pts1 N/A N/A vtkNumpy getNumpyFromVtk N/A N/A planes N/A 0 polyData Points N/A pts2 N/A N/A vtkNumpy getNumpyFromVtk N/A N/A planes N/A 1 polyData Points N/A linePoint N/A N/A np zeros 3 N/A centroid2 N/A N/A N/A np sum pts2 axis 0 N/A len pts2 N/A N/A N/A N/A vtk vtkPlane ProjectPoint centroid2 origin1 normal1 linePoint N/A dists N/A N/A np dot N/A pts1 linePoint zaxis N/A p1 N/A linePoint N/A zaxis N/A N/A np min dists N/A p2 N/A linePoint N/A zaxis N/A N/A np max dists N/A N/A xwidth ywidth blockDimensions N/A zwidth N/A N/A N/A np linalg norm N/A p2 p1 N/A origin N/A N/A N/A p1 N/A N/A xaxis xwidth 2.0 N/A N/A yaxis ywidth 2.0 N/A N/A zaxis zwidth 2.0 N/A d N/A DebugData N/A N/A N/A d addSphere linePoint radius 0.02 N/A N/A N/A d addSphere p1 radius 0.01 N/A N/A N/A d addSphere p2 radius 0.01 N/A N/A N/A d addLine p1 p2 N/A N/A N/A d addSphere origin radius 0.01 N/A N/A N/A d addLine N/A origin N/A N/A xaxis xwidth 2.0 N/A origin N/A N/A xaxis xwidth 2.0 N/A N/A N/A d addLine N/A origin N/A N/A yaxis ywidth 2.0 N/A origin N/A N/A yaxis ywidth 2.0 N/A N/A N/A d addLine N/A origin N/A N/A zaxis zwidth 2.0 N/A origin N/A N/A zaxis zwidth 2.0 N/A obj N/A updatePolyData N/A N/A d getPolyData block axes N/A N/A N/A obj setProperty Color N/A N/A QtGui QColor 255 255 0 N/A N/A N/A obj setProperty Visible False N/A cube N/A N/A vtk vtkCubeSource N/A N/A N/A cube SetXLength xwidth N/A N/A N/A cube SetYLength ywidth N/A N/A N/A cube SetZLength zwidth N/A N/A N/A cube Update N/A cube N/A shallowCopy N/A N/A cube GetOutput N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate origin N/A obj N/A updatePolyData cube block affordance cls BlockAffordanceItem parent affordances N/A N/A N/A N/A obj actor SetUserTransform t N/A N/A N/A obj addToView N/A N/A app getDRCView N/A params N/A dict origin origin xwidth xwidth ywidth ywidth zwidth zwidth xaxis xaxis yaxis yaxis zaxis zaxis N/A N/A N/A obj setAffordanceParams params N/A N/A N/A obj updateParamsFromActorTransform N/A estimatePointerTip N/A N/A robotModel polyData N/A N/A N/A 
    Given a robot model, uses forward kinematics to determine a pointer tip
    search region, then does a ransac line fit in the search region to find
    points on the pointer, and selects the maximum point along the line fit
    as the pointer tip.  Returns the pointer tip xyz on success and returns
    None on failure.
     N/A palmFrame N/A N/A robotModel getLinkFrame r_hand_force_torque N/A p1 N/A 0.0 0.14 -0.06 N/A p2 N/A 0.0 0.24 -0.06 N/A N/A N/A palmFrame TransformPoint p1 p1 N/A N/A N/A palmFrame TransformPoint p2 p2 N/A p1 N/A N/A np array p1 N/A p2 N/A N/A np array p2 N/A d N/A DebugData N/A N/A N/A d addSphere p1 radius 0.005 N/A N/A N/A d addSphere p2 radius 0.005 N/A N/A N/A d addLine p1 p2 N/A N/A N/A vis updatePolyData N/A N/A d getPolyData pointer line color N/A 1 0 0 parent N/A getDebugFolder visible False N/A polyData N/A cropToLineSegment polyData p1 p2 N/A N/A N/A N/A polyData GetNumberOfPoints N/A N/A None N/A N/A N/A vis updatePolyData polyData cropped to pointer line parent N/A getDebugFolder visible False N/A polyData N/A labelDistanceToLine polyData p1 p2 N/A polyData N/A thresholdPoints polyData distance_to_line N/A 0.0 0.07 N/A N/A N/A N/A polyData GetNumberOfPoints 2 N/A N/A None N/A N/A updatePolyData polyData distance to pointer line colorByName distance_to_line parent N/A getDebugFolder visible False N/A ransacDistanceThreshold 0.0075 N/A N/A lineOrigin lineDirection polyData N/A applyLineFit polyData distanceThreshold ransacDistanceThreshold N/A N/A updatePolyData polyData line fit ransac colorByName ransac_labels parent N/A getDebugFolder visible False N/A lineDirection N/A N/A np array lineDirection N/A lineDirection N/A N/A N/A np linalg norm lineDirection N/A N/A N/A N/A np dot lineDirection N/A p2 p1 0 N/A N/A lineDirection -1 N/A polyData N/A thresholdPoints polyData ransac_labels N/A 1.0 1.0 N/A N/A N/A N/A polyData GetNumberOfPoints 2 N/A N/A None N/A obj N/A updatePolyData polyData line fit points colorByName dist_along_line parent N/A getDebugFolder visible True N/A N/A N/A obj setProperty Point Size 5 N/A pts N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A dists N/A N/A np dot N/A pts lineOrigin lineDirection N/A p1 N/A lineOrigin N/A lineDirection N/A N/A np min dists N/A p2 N/A lineOrigin N/A lineDirection N/A N/A np max dists N/A d N/A DebugData N/A N/A N/A d addSphere p2 radius 0.005 N/A N/A N/A d addLine p1 p2 N/A N/A N/A vis updatePolyData N/A N/A d getPolyData fit pointer line color N/A 0 1 0 parent N/A getDebugFolder visible True N/A p2 N/A startBoundedPlaneSegmentation N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 2 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentBoundedPlaneByAnnotation N/A startValveSegmentationByWallPlane N/A N/A expectedValveRadius N/A N/A N/A picker N/A PointPicker numberOfPoints 2 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentValveByWallPlane expectedValveRadius N/A startValveSegmentationManual N/A N/A expectedValveRadius N/A N/A N/A picker N/A PointPicker numberOfPoints 2 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines False N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentValve expectedValveRadius N/A startRefitWall N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 1 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A N/A picker start N/A N/A picker annotationFunc refitWall N/A startWyeSegmentation N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 2 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines False N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentWye N/A startDoorHandleSegmentation N/A N/A otdfType N/A N/A N/A picker N/A PointPicker numberOfPoints 2 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines False N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentDoorHandle otdfType N/A startTrussSegmentation N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 2 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines True N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentTruss N/A startHoseNozzleSegmentation N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 1 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines False N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentHoseNozzle N/A storePoint N/A N/A p N/A N/A N/A _pickPoint N/A _pickPoint p N/A getPickPoint N/A N/A N/A N/A N/A _pickPoint N/A _pickPoint N/A startPickPoint N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 1 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines False N/A N/A N/A picker start N/A N/A picker annotationFunc storePoint N/A startSelectToolTip N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 1 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines False N/A N/A N/A picker start N/A N/A picker annotationFunc selectToolTip N/A startDrillSegmentation N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 3 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines False N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentDrill N/A startDrillAutoSegmentation N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 1 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines False N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentDrillAuto N/A startDrillButtonSegmentation N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 1 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines False N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentDrillButton N/A startPointerTipSegmentation N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 1 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines False N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentPointerTip N/A startDrillAutoSegmentationAlignedWithTable N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 1 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines False N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentDrillAlignedWithTable N/A startDrillBarrelSegmentation N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 1 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines False N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentDrillBarrel N/A startDrillWallSegmentation N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 3 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines True N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentDrillWall N/A startDrillWallSegmentationConstrained N/A N/A rightAngleLocation N/A N/A N/A picker N/A PointPicker numberOfPoints 2 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines False N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentDrillWallConstrained rightAngleLocation N/A startDrillInHandSegmentation N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 2 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A picker drawLines True N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentDrillInHand N/A startSegmentDebrisWall N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 1 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentDebrisWall N/A startSegmentDebrisWallManual N/A N/A N/A N/A N/A picker N/A PointPicker numberOfPoints 2 N/A N/A addViewPicker picker N/A N/A picker enabled True N/A N/A N/A picker start N/A N/A picker annotationFunc N/A N/A functools partial segmentDebrisWallManual N/A selectToolTip N/A N/A point1 N/A N/A N/A point1 N/A segmentDebrisWallManual N/A N/A point1 point2 N/A N/A N/A N/A p1 p2 N/A point1 point2 N/A d N/A DebugData N/A N/A N/A d addSphere p1 radius 0.01 N/A N/A N/A d addSphere p2 radius 0.01 N/A N/A N/A d addLine p1 p2 N/A edgeObj N/A updatePolyData N/A N/A d getPolyData debris plane edge visible True N/A N/A edgeObj points N/A p1 p2 N/A xaxis N/A p2 p1 N/A xaxis N/A N/A N/A np linalg norm xaxis N/A zaxis N/A N/A np array N/A 0.0 0.0 1.0 N/A yaxis N/A N/A np cross zaxis xaxis N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate p1 N/A N/A updateFrame t debris plane frame parent edgeObj visible False N/A refFrame N/A N/A vtk vtkTransform N/A N/A N/A refFrame PostMultiply N/A N/A N/A refFrame SetMatrix N/A N/A t GetMatrix N/A N/A N/A refFrame Translate N/A N/A N/A xaxis yaxis N/A zaxis 20.0 N/A N/A updateFrame refFrame debris reference frame parent edgeObj visible False N/A segmentDebrisWall N/A N/A point1 N/A N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A shallowCopy N/A inputObj polyData N/A viewPlaneNormal N/A N/A np array N/A N/A N/A N/A N/A getSegmentationView camera GetViewPlaneNormal N/A N/A polyData origin normal N/A applyPlaneFit polyData distanceThreshold 0.02 expectedNormal viewPlaneNormal perpendicularAxis viewPlaneNormal searchOrigin point1 searchRadius 0.25 angleEpsilon 0.7 returnOrigin True N/A planePoints N/A thresholdPoints polyData dist_to_plane N/A -0.02 0.02 N/A N/A updatePolyData planePoints unbounded plane points parent N/A getDebugFolder visible False N/A planePoints N/A applyVoxelGrid planePoints leafSize 0.03 N/A planePoints N/A labelOutliers planePoints searchRadius 0.06 neighborsInSearchRadius 10 N/A N/A updatePolyData planePoints voxel plane points parent N/A getDebugFolder colorByName is_outlier visible False N/A planePoints N/A thresholdPoints planePoints is_outlier N/A 0 0 N/A planePoints N/A labelDistanceToPoint planePoints point1 N/A clusters N/A extractClusters planePoints clusterTolerance 0.1 N/A N/A N/A clusters sort key N/A N/A N/A x N/A N/A N/A N/A N/A vtkNumpy getNumpyFromVtk x distance_to_point min N/A planePoints N/A clusters N/A 0 N/A planeObj N/A updatePolyData planePoints debris plane points parent N/A getDebugFolder visible False N/A perpAxis N/A 0 0 -1 N/A perpAxis N/A N/A N/A np linalg norm perpAxis N/A edgeAxis N/A N/A np cross normal perpAxis N/A edgePoints N/A computeEdge planePoints edgeAxis perpAxis N/A edgePoints N/A N/A vtkNumpy getVtkPolyDataFromNumpyPoints edgePoints N/A N/A updatePolyData edgePoints edge points parent N/A getDebugFolder visible False N/A N/A linePoint lineDirection _ N/A applyLineFit edgePoints N/A xaxis lineDirection N/A yaxis normal N/A zaxis N/A N/A np cross xaxis yaxis N/A N/A N/A N/A np dot zaxis N/A 0 0 1 0 N/A N/A zaxis -1 N/A xaxis -1 N/A pts N/A N/A vtkNumpy getNumpyFromVtk planePoints Points N/A dists N/A N/A np dot N/A pts linePoint xaxis N/A p1 N/A linePoint N/A xaxis N/A N/A np min dists N/A p2 N/A linePoint N/A xaxis N/A N/A np max dists N/A p1 N/A projectPointToPlane p1 origin normal N/A p2 N/A projectPointToPlane p2 origin normal N/A d N/A DebugData N/A N/A N/A d addSphere p1 radius 0.01 N/A N/A N/A d addSphere p2 radius 0.01 N/A N/A N/A d addLine p1 p2 N/A edgeObj N/A updatePolyData N/A N/A d getPolyData debris plane edge parent planeObj visible True N/A N/A edgeObj points N/A p1 p2 N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate p1 N/A N/A updateFrame t debris plane frame parent planeObj visible False N/A refFrame N/A N/A vtk vtkTransform N/A N/A N/A refFrame PostMultiply N/A N/A N/A refFrame SetMatrix N/A N/A t GetMatrix N/A N/A N/A refFrame Translate N/A N/A N/A xaxis yaxis N/A zaxis 20.0 N/A N/A updateFrame refFrame debris reference frame parent planeObj visible False N/A segmentBoundedPlaneByAnnotation N/A N/A point1 point2 N/A N/A N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A shallowCopy N/A inputObj polyData N/A viewPlaneNormal N/A N/A np array N/A N/A N/A N/A N/A getSegmentationView camera GetViewPlaneNormal N/A N/A polyData origin normal N/A applyPlaneFit polyData distanceThreshold 0.015 expectedNormal viewPlaneNormal perpendicularAxis viewPlaneNormal searchOrigin point1 searchRadius 0.3 angleEpsilon 0.7 returnOrigin True N/A planePoints N/A thresholdPoints polyData dist_to_plane N/A -0.015 0.015 N/A N/A updatePolyData planePoints unbounded plane points parent N/A getDebugFolder visible False N/A planePoints N/A applyVoxelGrid planePoints leafSize 0.03 N/A planePoints N/A labelOutliers planePoints searchRadius 0.06 neighborsInSearchRadius 12 N/A N/A updatePolyData planePoints voxel plane points parent N/A getDebugFolder colorByName is_outlier visible False N/A planePoints N/A thresholdPoints planePoints is_outlier N/A 0 0 N/A planePoints N/A labelDistanceToPoint planePoints point1 N/A clusters N/A extractClusters planePoints clusterTolerance 0.1 N/A N/A N/A clusters sort key N/A N/A N/A x N/A N/A N/A N/A N/A vtkNumpy getNumpyFromVtk x distance_to_point min N/A planePoints N/A clusters N/A 0 N/A N/A updatePolyData planePoints plane points parent N/A getDebugFolder visible False N/A perpAxis N/A point2 point1 N/A perpAxis N/A N/A N/A np linalg norm perpAxis N/A edgeAxis N/A N/A np cross normal perpAxis N/A edgePoints N/A computeEdge planePoints edgeAxis perpAxis N/A edgePoints N/A N/A vtkNumpy getVtkPolyDataFromNumpyPoints edgePoints N/A N/A updatePolyData edgePoints edge points parent N/A getDebugFolder visible False N/A N/A linePoint lineDirection _ N/A applyLineFit edgePoints N/A zaxis normal N/A yaxis lineDirection N/A xaxis N/A N/A np cross yaxis zaxis N/A N/A N/A N/A np dot xaxis perpAxis 0 N/A N/A xaxis -1 N/A yaxis N/A N/A np cross zaxis xaxis N/A pts N/A N/A vtkNumpy getNumpyFromVtk planePoints Points N/A dists N/A N/A np dot N/A pts linePoint yaxis N/A p1 N/A linePoint N/A yaxis N/A N/A np min dists N/A p2 N/A linePoint N/A yaxis N/A N/A np max dists N/A p1 N/A projectPointToPlane p1 origin normal N/A p2 N/A projectPointToPlane p2 origin normal N/A d N/A DebugData N/A N/A N/A d addSphere p1 radius 0.01 N/A N/A N/A d addSphere p2 radius 0.01 N/A N/A N/A d addLine p1 p2 N/A N/A updatePolyData N/A N/A d getPolyData plane edge parent N/A getDebugFolder visible False N/A t N/A getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate N/A N/A p1 p2 2.0 N/A N/A updateFrame t plane edge frame parent N/A getDebugFolder visible False N/A N/A savedCameraParams None perspective N/A N/A N/A N/A N/A savedCameraParams N/A N/A savedCameraParams None N/A N/A N/A aff N/A getDefaultAffordanceObject N/A aff N/A N/A N/A N/A aff setProperty Alpha 1.0 N/A obj N/A N/A om findObjectByName pointcloud snapshot N/A N/A obj None N/A N/A N/A N/A N/A obj actor SetPickable 1 N/A view N/A getSegmentationView N/A c N/A N/A view camera N/A N/A N/A c ParallelProjectionOff N/A N/A N/A c SetPosition N/A savedCameraParams N/A Position N/A N/A N/A c SetFocalPoint N/A savedCameraParams N/A FocalPoint N/A N/A N/A c SetViewUp N/A savedCameraParams N/A ViewUp N/A N/A N/A view setCameraManipulationStyle N/A N/A N/A view render N/A saveCameraParams N/A N/A overwrite N/A False N/A N/A savedCameraParams N/A N/A overwrite N/A savedCameraParams None N/A N/A view N/A getSegmentationView N/A c N/A N/A view camera N/A savedCameraParams N/A dict Position N/A N/A c GetPosition FocalPoint N/A N/A c GetFocalPoint ViewUp N/A N/A c GetViewUp N/A getDefaultAffordanceObject N/A N/A N/A N/A N/A obj N/A N/A om getActiveObject N/A N/A isinstance obj AffordanceItem N/A N/A obj N/A obj N/A N/A om getObjects N/A N/A N/A isinstance obj AffordanceItem N/A N/A obj N/A getVisibleRobotModel N/A N/A N/A N/A N/A obj N/A N/A om getObjects N/A N/A N/A N/A isinstance obj N/A roboturdf RobotModelItem N/A N/A obj getProperty Visible N/A N/A obj N/A orthoX N/A N/A N/A N/A N/A aff N/A getDefaultAffordanceObject N/A N/A aff N/A N/A N/A N/A saveCameraParams N/A N/A N/A aff updateParamsFromActorTransform N/A N/A N/A aff setProperty Alpha 0.3 N/A N/A N/A N/A N/A N/A om findObjectByName pointcloud snapshot actor SetPickable 0 N/A view N/A getSegmentationView N/A c N/A N/A view camera N/A N/A N/A c ParallelProjectionOn N/A origin N/A N/A aff params N/A origin N/A viewDirection N/A N/A aff params N/A xaxis N/A viewUp N/A N/A N/A aff params N/A yaxis N/A viewDistance N/A N/A N/A aff params N/A xwidth 3 N/A scale N/A N/A aff params N/A zwidth N/A N/A N/A c SetFocalPoint origin N/A N/A N/A c SetPosition N/A origin N/A viewDirection viewDistance N/A N/A N/A c SetViewUp viewUp N/A N/A N/A c SetParallelScale scale N/A N/A N/A view setActorManipulationStyle N/A N/A N/A view render N/A orthoY N/A N/A N/A N/A N/A aff N/A getDefaultAffordanceObject N/A N/A aff N/A N/A N/A N/A saveCameraParams N/A N/A N/A aff updateParamsFromActorTransform N/A N/A N/A aff setProperty Alpha 0.3 N/A N/A N/A N/A N/A N/A om findObjectByName pointcloud snapshot actor SetPickable 0 N/A view N/A getSegmentationView N/A c N/A N/A view camera N/A N/A N/A c ParallelProjectionOn N/A origin N/A N/A aff params N/A origin N/A viewDirection N/A N/A aff params N/A yaxis N/A viewUp N/A N/A N/A aff params N/A xaxis N/A viewDistance N/A N/A N/A aff params N/A ywidth 4 N/A scale N/A N/A aff params N/A zwidth N/A N/A N/A c SetFocalPoint origin N/A N/A N/A c SetPosition N/A origin N/A viewDirection viewDistance N/A N/A N/A c SetViewUp viewUp N/A N/A N/A c SetParallelScale scale N/A N/A N/A view setActorManipulationStyle N/A N/A N/A view render N/A orthoZ N/A N/A N/A N/A N/A aff N/A getDefaultAffordanceObject N/A N/A aff N/A N/A N/A N/A saveCameraParams N/A N/A N/A aff updateParamsFromActorTransform N/A N/A N/A aff setProperty Alpha 0.3 N/A N/A N/A N/A N/A N/A om findObjectByName pointcloud snapshot actor SetPickable 0 N/A view N/A getSegmentationView N/A c N/A N/A view camera N/A N/A N/A c ParallelProjectionOn N/A origin N/A N/A aff params N/A origin N/A viewDirection N/A N/A aff params N/A zaxis N/A viewUp N/A N/A N/A aff params N/A yaxis N/A viewDistance N/A N/A aff params N/A zwidth N/A scale N/A N/A N/A aff params N/A ywidth 6 N/A N/A N/A c SetFocalPoint origin N/A N/A N/A c SetPosition N/A origin N/A viewDirection viewDistance N/A N/A N/A c SetViewUp viewUp N/A N/A N/A c SetParallelScale scale N/A N/A N/A view setActorManipulationStyle N/A N/A N/A view render N/A zoomToDisplayPoint N/A N/A displayPoint boundsRadius view N/A 0.5 None N/A N/A pickedPoint N/A pickPoint displayPoint N/A getSegmentationView obj pointcloud snapshot N/A N/A pickedPoint None N/A N/A N/A view N/A view N/A N/A app getCurrentRenderView N/A N/A worldPt1 worldPt2 N/A getRayFromDisplayPoint N/A getSegmentationView displayPoint N/A diagonal N/A N/A np array N/A boundsRadius boundsRadius boundsRadius N/A bounds N/A N/A np hstack N/A N/A pickedPoint diagonal N/A pickedPoint diagonal N/A bounds N/A N/A bounds N/A 0 N/A bounds N/A 3 N/A bounds N/A 1 N/A bounds N/A 4 N/A bounds N/A 2 N/A bounds N/A 5 N/A N/A N/A N/A N/A view renderer ResetCamera bounds N/A N/A N/A N/A N/A view camera SetFocalPoint pickedPoint N/A N/A N/A view render N/A extractPointsAlongClickRay N/A N/A position ray polyData distanceToLineThreshold nearestToCamera N/A None 0.025 False N/A N/A N/A polyData None N/A N/A polyData N/A getCurrentRevolutionData N/A N/A N/A polyData N/A N/A N/A polyData GetNumberOfPoints N/A N/A None N/A polyData N/A labelDistanceToLine polyData position N/A position ray N/A polyData N/A thresholdPoints polyData distance_to_line N/A 0.0 distanceToLineThreshold N/A N/A N/A N/A polyData GetNumberOfPoints N/A N/A None N/A polyData N/A labelPointDistanceAlongAxis polyData ray origin position resultArrayName distance_along_line N/A polyData N/A thresholdPoints polyData distance_along_line N/A 0.2 1000000.0 N/A N/A N/A N/A polyData GetNumberOfPoints N/A N/A None N/A N/A updatePolyData polyData ray points colorByName distance_to_line visible False parent N/A getDebugFolder N/A nearestToCamera N/A N/A dists N/A N/A vtkNumpy getNumpyFromVtk polyData distance_along_line N/A N/A dists N/A N/A vtkNumpy getNumpyFromVtk polyData distance_to_line N/A points N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A intersectionPoint N/A points N/A N/A N/A dists argmin N/A d N/A DebugData N/A N/A N/A d addSphere intersectionPoint radius 0.005 N/A N/A N/A d addLine position intersectionPoint N/A obj N/A updatePolyData N/A N/A d getPolyData intersecting ray visible False color N/A 0 1 0 parent N/A getDebugFolder N/A N/A N/A N/A N/A N/A obj actor GetProperty SetLineWidth 2 N/A d2 N/A DebugData N/A end_of_ray N/A position N/A 2 ray N/A N/A N/A d2 addLine position end_of_ray N/A obj2 N/A updatePolyData N/A N/A d2 getPolyData camera ray visible False color N/A 1 0 0 parent N/A getDebugFolder N/A N/A N/A N/A N/A N/A obj2 actor GetProperty SetLineWidth 2 N/A intersectionPoint N/A segmentDrillWallFromTag N/A N/A position ray N/A N/A N/A 
    Fix the drill wall relative to a ray intersected with the wall
    Desc: given a position and a ray (typically derived from a camera pixel)
    Use that point to determine a position for the Drill Wall
    This function uses a hard coded offset between the position on the wall
    to produce the drill cutting origin
     N/A polyData N/A getCurrentRevolutionData N/A N/A polyData None N/A N/A no LIDAR data yet N/A False N/A point1 N/A extractPointsAlongClickRay position ray polyData N/A viewDirection N/A -1 N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewDirection N/A N/A polyDataOut origin normal N/A applyPlaneFit polyData expectedNormal viewDirection searchOrigin point1 searchRadius 0.3 angleEpsilon 0.3 returnOrigin True N/A intersection_point N/A intersectLineWithPlane position ray origin normal N/A xaxis N/A normal N/A zaxis N/A 0 0 1 N/A yaxis N/A N/A np cross zaxis xaxis N/A yaxis N/A N/A N/A np linalg norm yaxis N/A zaxis N/A N/A np cross xaxis yaxis N/A t N/A N/A transformUtils getTransformFromAxes xaxis yaxis zaxis N/A N/A N/A t PostMultiply N/A N/A N/A t Translate intersection_point N/A t2 N/A N/A transformUtils copyFrame t N/A N/A N/A t2 PreMultiply N/A t3 N/A N/A transformUtils frameFromPositionAndRPY N/A 0 0.6 -0.25 N/A 0 0 0 N/A N/A N/A t2 Concatenate t3 N/A rightAngleLocation bottom left N/A N/A createDrillWall rightAngleLocation t2 N/A wall N/A N/A om findObjectByName wall N/A N/A N/A vis updateFrame t wall fit tag parent wall visible False scale 0.2 N/A d N/A DebugData N/A N/A N/A d addSphere intersection_point radius 0.002 N/A obj N/A updatePolyData N/A N/A d getPolyData intersection parent wall visible False color N/A 0 1 0 N/A N/A N/A N/A N/A N/A obj actor GetProperty SetLineWidth 1 N/A True N/A segmentDrillWallFromWallCenter N/A N/A N/A N/A N/A 
    Get the drill wall target as an offset from the center of
    the full wall
     N/A inputObj N/A N/A om findObjectByName pointcloud snapshot N/A polyData N/A inputObj polyData N/A wallFrame N/A N/A transformUtils copyFrame N/A findWallCenter polyData N/A N/A N/A wallFrame PreMultiply N/A t3 N/A N/A transformUtils frameFromPositionAndRPY N/A -0.07 -0.3276 0 N/A 180 -90 0 N/A N/A N/A wallFrame Concatenate t3 N/A rightAngleLocation bottom left N/A N/A createDrillWall rightAngleLocation wallFrame N/A wall N/A N/A om findObjectByName wall N/A N/A N/A vis updateFrame wallFrame wall fit lidar parent wall visible False scale 0.2 N/A findFarRightCorner N/A N/A polyData linkFrame N/A N/A N/A 
    Within a point cloud find the point to the far right from the link
    The input is the 4 corners of a minimum bounding box
     N/A diagonalTransform N/A N/A transformUtils copyFrame linkFrame N/A N/A N/A diagonalTransform PreMultiply N/A N/A N/A diagonalTransform Concatenate N/A N/A transformUtils frameFromPositionAndRPY N/A 0 0 0 N/A 0 0 45 N/A N/A N/A vis updateFrame diagonalTransform diagonal frame parent N/A getDebugFolder visible False N/A points N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A viewOrigin N/A N/A diagonalTransform TransformPoint N/A 0.0 0.0 0.0 N/A viewX N/A N/A diagonalTransform TransformVector N/A 1.0 0.0 0.0 N/A viewY N/A N/A diagonalTransform TransformVector N/A 0.0 1.0 0.0 N/A viewZ N/A N/A diagonalTransform TransformVector N/A 0.0 0.0 1.0 N/A polyData N/A labelPointDistanceAlongAxis polyData viewY origin viewOrigin resultArrayName distance_along_foot_y N/A N/A N/A vis updatePolyData polyData cornerPoints parent segmentation visible False N/A farRightIndex N/A N/A N/A N/A vtkNumpy getNumpyFromVtk polyData distance_along_foot_y argmin N/A points N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A N/A points N/A N/A farRightIndex N/A N/A findMinimumBoundingRectangle N/A N/A polyData linkFrame N/A N/A N/A 
    Find minimum bounding rectangle of a rectangular point cloud
    The input is assumed to be a rectangular point cloud e.g. the top of a block or table
    Returns transform of far right corner (pointing away from robot)
     N/A polyData N/A applyVoxelGrid polyData leafSize 0.02 get2DAsPolyData N/A N/A xy_points N/A N/A N/A 
        Convert a 2D numpy array to a 3D polydata by appending z=0
         N/A d N/A N/A N/A np vstack N/A N/A xy_points T N/A N/A np zeros N/A N/A xy_points shape N/A 0 T N/A d2 N/A N/A d copy N/A N/A N/A vtkNumpy getVtkPolyDataFromNumpyPoints d2 N/A N/A pts N/A N/A vtkNumpy getNumpyFromVtk polyData Points N/A xy_points N/A pts N/A N/A N/A N/A 0 1 N/A N/A N/A vis updatePolyData N/A get2DAsPolyData xy_points xy_points parent N/A getDebugFolder visible False N/A hull_points N/A N/A qhull_2d qhull2D xy_points N/A N/A N/A vis updatePolyData N/A get2DAsPolyData hull_points hull_points parent N/A getDebugFolder visible False N/A hull_points N/A hull_points N/A -1 N/A N/A rot_angle rectArea rectDepth rectWidth center_point corner_points_ground N/A N/A min_bounding_rect minBoundingRect hull_points N/A N/A N/A vis updatePolyData N/A get2DAsPolyData corner_points_ground corner_points_ground parent N/A getDebugFolder visible False N/A polyDataCentroid N/A computeCentroid polyData N/A cornerPoints N/A N/A N/A np vstack N/A N/A corner_points_ground T N/A N/A polyDataCentroid N/A 2 N/A N/A np ones N/A N/A corner_points_ground shape N/A 0 T N/A cornerPolyData N/A N/A vtkNumpy getVtkPolyDataFromNumpyPoints cornerPoints N/A farRightCorner N/A findFarRightCorner cornerPolyData linkFrame N/A viewDirection N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewDirection N/A viewFrame N/A N/A N/A N/A SegmentationContext getGlobalInstance getViewFrame N/A robotYaw N/A N/A N/A N/A math atan2 N/A viewDirection N/A 1 N/A viewDirection N/A 0 180.0 N/A np pi N/A blockAngle N/A rot_angle N/A 180 N/A math pi N/A blockAngleAll N/A N/A np array N/A blockAngle N/A blockAngle 90 N/A blockAngle 180 N/A blockAngle 270 N/A values N/A blockAngleAll robotYaw N/A i N/A range 0 4 N/A N/A N/A N/A values N/A i 180 N/A N/A N/A values N/A i N/A N/A values N/A i 360 N/A values N/A abs values N/A min_idx N/A N/A np argmin values N/A N/A N/A min_idx 1 N/A min_idx 3 N/A N/A temp rectWidth N/A rectWidth rectDepth N/A rectDepth temp N/A rot_angle N/A N/A N/A blockAngleAll N/A min_idx N/A math pi 180.0 N/A cornerTransform N/A N/A transformUtils frameFromPositionAndRPY farRightCorner N/A 0 0 N/A N/A np rad2deg rot_angle N/A N/A N/A vis showFrame cornerTransform cornerTransform parent N/A getDebugFolder visible False N/A N/A cornerTransform rectDepth rectWidth rectArea N/A