Module ImportFrom alias Import alias ImportFrom alias 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 Call AttributeLoad NameLoad attr ListLoad Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad 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 ListLoad Num Num Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad 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 defaults NameLoad body Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Num Num Num Assign NameStore BoolOpOr NameLoad Call AttributeLoad NameLoad attr For NameStore NameLoad body If Call NameLoad NameLoad NameLoad body Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr Call NameLoad NameLoad NameLoad keyword Num Expr Call NameLoad Call AttributeLoad NameLoad attr Str keyword Str keyword NameLoad Expr Call NameLoad Call NameLoad NameLoad NameLoad Str keyword Str keyword NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr Str Assign NameStore ListLoad For NameStore ListLoad Str Str body Assign NameStore Call NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad BinOpMod Str NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad BinOpMod Str NameLoad Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Return NameLoad decorator_list Import alias identifier ImportFrom alias Assign NameStore Num FunctionDef arguments args NameParam NameParam defaults Num body Global identifier AugAssignAdd NameStore Num 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 NameLoad 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 defaults NameLoad body Assign NameStore BoolOpOr NameLoad Call AttributeLoad NameLoad attr Assign NameStore ListComp NameLoad comprehension NameStore NameLoad Call NameLoad NameLoad NameLoad Assign NameStore Num Assign NameStore Dict Str Str Str Str Str Str Str Str Str Str Str Str Str Str Assign NameStore Dict Str Str Str Str Str Str Str Str TupleLoad Num Num Num Num TupleLoad Num Num Num Num TupleLoad Num Num Num Num TupleLoad Num Num Num Num TupleLoad Num Num Num Num TupleLoad Num Num Num Num TupleLoad Num Num Num Num TupleLoad Num Num Num Num Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Num Num Num Assign NameStore Num Assign NameStore ListLoad Num Num Num For NameStore NameLoad body Assign NameStore Call AttributeLoad NameLoad attr Str If CompareNotIn NameLoad NameLoad body Print Str NameLoad Continue Assign NameStore Call NameLoad NameLoad NameLoad Assign TupleStore NameStore NameStore NameStore NameStore SubscriptLoad NameLoad Index SubscriptLoad NameLoad Index NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad NameLoad NameLoad Call AttributeLoad NameLoad attr NameLoad ListLoad NameLoad NameLoad Num Expr Call NameLoad NameLoad Expr Call NameLoad NameLoad BinOpAdd NameLoad Str keyword Str keyword Num keyword NameLoad Assign NameStore Call NameLoad NameLoad BinOpAdd NameLoad Str keyword Str keyword Num Assign NameStore Call NameLoad NameLoad BinOpAdd NameLoad Str keyword Str keyword Num Assign TupleStore NameStore NameStore Call NameLoad Assign NameStore Call NameLoad NameLoad BinOpAdd NameLoad Str keyword Str Expr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad BinOpAdd NameLoad Str keyword Str Expr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr decorator_list Expr Call NameLoad
N/A segmentation getFootFramesFromReferenceFrame N/A math director.debugVis DebugData 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 N/A np array N/A 0 -1 0 N/A N/A N/A referenceFrame TransformVector refAxis 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 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 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 showBoardDebug N/A N/A affs N/A None N/A N/A referenceFrame N/A N/A vtk vtkTransform N/A N/A N/A referenceFrame Translate 0 0 5.0 N/A affs N/A affs N/A N/A om getObjects N/A obj affs N/A N/A N/A isinstance obj BlockAffordanceItem N/A N/A d N/A DebugData N/A N/A N/A d addSphere N/A computeClosestCorner obj referenceFrame radius 0.015 N/A N/A showPolyData N/A N/A d getPolyData closest corner parent board debug visible True N/A N/A showFrame N/A computeGroundFrame obj referenceFrame ground frame parent board debug visible True N/A loadFeet N/A N/A N/A N/A N/A meshDir N/A N/A N/A os path join N/A N/A app getDRCBase software/models/atlas_v3/meshes N/A meshes N/A N/A foot N/A l r N/A N/A d N/A DebugData N/A N/A N/A d addPolyData N/A N/A io readPolyData N/A N/A N/A os path join meshDir N/A %s_talus.stl foot N/A N/A N/A d addPolyData N/A N/A io readPolyData N/A N/A N/A os path join meshDir N/A %s_foot.stl foot N/A N/A N/A meshes append N/A N/A d getPolyData N/A meshes N/A N/A vs lcmvs director lcmUtils N/A triadCount 0 publishTriad N/A N/A transform collectionId N/A 1234 N/A N/A triadCount N/A triadCount 1 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 triadCount N/A m N/A N/A vs 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 generateFeetForDebris N/A N/A affs N/A None N/A N/A affs N/A affs N/A N/A om getObjects N/A affs N/A aff N/A aff affs N/A isinstance aff BlockAffordanceItem N/A stanceWidth 0.2 N/A nameMap N/A board A board B board C board E board F board G board H 02_2x6_1 03_2x6_3 04_4x4x40_4 07_4x4x20_4 09_2x4_4 10_4x4x40_2 12_2x4_3 N/A stances N/A 02_2x6_1 03_2x6_3 04_4x4x40_4 07_4x4x20_4 09_2x4_4 10_4x4x40_2 12_2x4_3 14_2x4_1 N/A -0.323615 -0.334221 0.66 1.54697 N/A -0.48553 -0.437538 0.7 1.57 N/A -0.65425 -0.527123 0.66 1.58678 N/A -0.378337 -0.364018 0.66 1.62164 N/A -0.353197 -0.450592 0.79 1.54697 N/A -0.581364 -0.0076541 0.82 1.58029 N/A -0.353395 -0.450592 0.79 1.54649 N/A -0.598935 -0.498268 0.66 1.56923 N/A referenceFrame N/A N/A vtk vtkTransform N/A N/A N/A referenceFrame Translate 0 0 5.0 N/A stanceRotation 0.0 N/A stanceOffset N/A -0.48 -0.08 0 N/A aff affs N/A N/A name N/A N/A aff getProperty Name N/A N/A name nameMap N/A N/A name not found: name N/A N/A affGroundFrame N/A computeGroundFrame aff referenceFrame N/A N/A stanceOffsetX stanceOffsetY pelvisHeight stanceRotation N/A stances N/A N/A nameMap N/A name N/A N/A stanceFrame lfootFrame rfootFrame N/A getFootFramesFromReferenceFrame affGroundFrame stanceWidth N/A N/A math degrees stanceRotation N/A stanceOffsetX stanceOffsetY 0.0 N/A N/A publishTriad stanceFrame N/A N/A showFrame affGroundFrame N/A name  ground frame parent board debug scale 0.15 visible True N/A lfootFrame N/A showFrame lfootFrame N/A name  lfoot frame parent board debug scale 0.07 N/A rfootFrame N/A showFrame rfootFrame N/A name  rfoot frame parent board debug scale 0.07 N/A N/A lfoot rfoot N/A loadFeet N/A lfoot N/A showPolyData lfoot N/A name  l_foot parent board debug N/A N/A N/A N/A lfoot actor SetUserTransform N/A lfootFrame transform N/A rfoot N/A showPolyData rfoot N/A name  r_foot parent board debug N/A N/A N/A N/A rfoot actor SetUserTransform N/A rfootFrame transform N/A N/A N/A generateFeetForDebris