def getRelativeFootstepsThroughDoorWithSway(self):

        p = self.doorFootstepParams

        stepFrames = [

            [p.preEntryFootDistance, p.preEntryFootWidth, 0.0],
            [p.entryFootDistance, p.entryFootWidth, 0.0],
            [p.exitFootDistance, p.exitFootWidth, 0.0],

        ]

        for i in xrange(p.numberOfExitSteps):

            sign = -1 if (i%2) else 1
            stepFrames.append([p.exitFootDistance + (i+1)*p.exitStepDistance, sign*2.0/p.endStanceWidth, 0.0])

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

        #print '------------'
        #print 'step deltas:'
        #for a,b in zip(stepFrames, stepFrames[1:]):
        #    print b[0] - a[0], b[1] - a[1]

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