def processIK(self, constraints, endPoseName="", nominalPoseName="", seedPoseName="", additionalTimeSamples=None):
    listener = self.ikPlanner.getManipIKListener()
    msg = self.setupMessage(constraints, endPoseName, nominalPoseName, seedPoseName, additionalTimeSamples)
    lcmUtils.publish('IK_REQUEST', msg)
    ikplan = listener.waitForResponse(timeout=12000)
    listener.finish()

    endPose = [0] * self.ikPlanner.jointController.numberOfJoints
    if ikplan.num_states>0:
      endPose[len(endPose)-len(ikplan.plan[ikplan.num_states-1].joint_position):] = ikplan.plan[ikplan.num_states-1].joint_position
      info=ikplan.plan_info[1-ikplan.num_states]
    else: 
      info = -1
    self.ikPlanner.ikServer.infoFunc(info)
    return endPose, info
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/plannerPublisher.py/PlannerPublisher.processIK/swapped operands of `-`