def createWristAngleConstraint(self, wristAngleCW, planFromCurrentRobotState):
        if self.graspingHand == 'left':
            wristJoint = ['l_arm_lwy']
            wristJointLowerBound = [-np.radians(160) + wristAngleCW]
            wristJointUpperBound = [-np.radians(160) + wristAngleCW]
        else:
            wristJoint = ['r_arm_lwy']
            wristJointLowerBound = [np.radians(160) - wristAngleCW]
            wristJointUpperBound = [np.radians(160) - wristAngleCW]
        constraint = ik.PostureConstraint()
        constraint.joints = wristJoint
        constraint.jointsLowerBound = wristJointLowerBound
        constraint.jointsUpperBound = wristJointUpperBound
        if planFromCurrentRobotState:
            constraint.tspan = [1.0, 1.0]
        return constraint
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/valvedemo.py/ValvePlannerDemo.createWristAngleConstraint/original