def processTraj(self, constraints, endPoseName="", nominalPoseName="", seedPoseName="", additionalTimeSamples=None):
    # Temporary fix / HACK / TODO (should be done in exotica_json)
    largestTspan = [0, 0]
    for constraintIndex, _ in enumerate(constraints):
      # Get tspan extend to normalise time-span
      if np.isfinite(constraints[constraintIndex].tspan[0]) and np.isfinite(constraints[constraintIndex].tspan[1]):
        largestTspan[0] = constraints[constraintIndex].tspan[0] if (constraints[constraintIndex].tspan[0] < largestTspan[0]) else largestTspan[0]
        largestTspan[1] = constraints[constraintIndex].tspan[1] if (constraints[constraintIndex].tspan[1] > largestTspan[1]) else largestTspan[1]

    # Temporary fix / HACK/ TODO to normalise time spans
    for constraintIndex, _ in enumerate(constraints):
      if np.isfinite(constraints[constraintIndex].tspan[0]) and np.isfinite(constraints[constraintIndex].tspan[1]):
        if largestTspan[1] != 0:
          constraints[constraintIndex].tspan[0] = largestTspan[1] / constraints[constraintIndex].tspan[0]
          constraints[constraintIndex].tspan[1] = constraints[constraintIndex].tspan[1] / largestTspan[1]

    listener = self.ikPlanner.getManipPlanListener()
    msg = self.setupMessage(constraints, endPoseName, nominalPoseName, seedPoseName, additionalTimeSamples)
    lcmUtils.publish('PLANNER_REQUEST', msg)
    lastManipPlan = listener.waitForResponse(timeout=20000)
    listener.finish()

    self.ikPlanner.ikServer.infoFunc(lastManipPlan.plan_info[0])
    return lastManipPlan, lastManipPlan.plan_info[0]
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/plannerPublisher.py/PlannerPublisher.processTraj/swapped operands of `/`