@staticmethod
    def makeStepFrames(stepFrames, relativeFrame=None, showFrames=False):

        frames = []
        for i, stepFrame in enumerate(stepFrames):

            stepFrame = transformUtils.frameFromPositionAndRPY(stepFrame, [0,0,0])
            stepFrame.PostMultiply()
            if relativeFrame:
                stepFrame.Concatenate(relativeFrame)

            if showFrames:
                obj = vis.updateFrame(stepFrame, 'step frame %d' % i, parent='step frames', scale=0.2)
                stepFrame = obj.transform

            frames.append(stepFrame)

        return frames
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/footstepsdriver.py/FootstepRequestGenerator.makeStepFrames/original