def computeBoardReachFrames(self):
        reachLeftXYZ = copy.deepcopy( self.graspLeftHandFrameXYZ )
        reachLeftXYZ[0] = reachLeftXYZ[0] - self.reachDepth
        reachLeftRPY = copy.deepcopy ( self.graspLeftHandFrameRPY )

        tl = transformUtils.frameFromPositionAndRPY( reachLeftXYZ , reachLeftRPY )
        tl.Concatenate(self.frame.transform)
        self.reachLeftFrame = vis.updateFrame(tl, 'reach left frame', parent=self.affordance, visible=False, scale=0.2)
        self.reachLeftFrame.addToView(app.getDRCView())
        
        reachRightXYZ = copy.deepcopy( self.graspRightHandFrameXYZ )
        reachRightXYZ[0] = reachRightXYZ[0] - self.reachDepth
        reachRightRPY = copy.deepcopy ( self.graspRightHandFrameRPY )

        tr = transformUtils.frameFromPositionAndRPY( reachRightXYZ , reachRightRPY )
        tr.Concatenate(self.frame.transform)
        self.reachRightFrame = vis.updateFrame(tr, 'reach right frame', parent=self.affordance, visible=False, scale=0.2)
        self.reachRightFrame.addToView(app.getDRCView())
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dataset/ETHPy150Open RobotLocomotion/director/src/python/director/bihandeddemo.py/Board.computeBoardReachFrames--crossover with--dataset/ETHPy150Open lektor/lektor/lektor/builder.py/FileInfo.is_dir