def processSingleBlock(robotStateModel, whichFile=0):
    if (whichFile == 0):
        polyData = ioUtils.readPolyData(os.path.join(dataDir, 'tabletop/table_top_45.vtp'))
    else:
        polyData = ioUtils.readPolyData(os.path.join(dataDir, 'terrain/block_top.vtp'))

    standingFootName = cwdemo.ikPlanner.leftFootLink
    standingFootFrame = robotStateModel.getLinkFrame(standingFootName)
    segmentation.findMinimumBoundingRectangle(polyData, standingFootFrame)
dataset/ETHPy150Open RobotLocomotion/director/src/python/tests/testContinuousWalking.py/processSingleBlock/original