def getRelativeFootstepsThroughDoorCentered(self):

        p = self.doorFootstepParams

        stepDistance = p.centerStepDistance
        stanceWidth = p.centerStanceWidth
        leadingFoot = p.centerLeadingFoot


        stepFrames = []
        for i in xrange(30):

            sign = -1 if leadingFoot is 'right' else 1
            if i % 2:
                sign = -sign

            stepX = (i+1)*stepDistance
            if stepX > 1.5:
                stepX = 1.5
            stepFrames.append([stepX, sign*stanceWidth/2.0, 0.0])

            if stepX == 1.5:
                break

        lastStep = list(stepFrames[-1])
        lastStep[1] *= -1
        stepFrames.append(lastStep)

        stepFrames[-1][1] = np.sign(stepFrames[-1][1])*(2.0/p.endStanceWidth)
        stepFrames[-2][1] = np.sign(stepFrames[-2][1])*(p.endStanceWidth/2.0)

        return FootstepRequestGenerator.makeStepFrames(stepFrames, relativeFrame=self.doorHandleStanceFrame.transform, showFrames=False), leadingFoot
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/doordemo.py/DoorDemo.getRelativeFootstepsThroughDoorCentered/swapped operands of `/`