def planTuckArms(self):


        ikParameters = IkParameters(usePointwise=False, maxDegreesPerSecond=self.speedHigh)

        otherSide = 'left' if self.graspingHand == 'right' else 'right'

        startPose = self.getPlanningStartPose()

        standPose, info = self.ikPlanner.computeStandPose(startPose, ikParameters=ikParameters)

        q2 = self.ikPlanner.getMergedPostureFromDatabase(standPose, 'door', 'hand up tuck', side=otherSide)
        a = 0.25
        q2 = (a - 1.0)*np.array(standPose) + a*q2
        q2 = self.ikPlanner.getMergedPostureFromDatabase(q2, 'door', 'hand up tuck', side=self.graspingHand)
        a = 0.75
        q2 = (1.0 - a)*np.array(standPose) + a*q2

        endPose = self.ikPlanner.getMergedPostureFromDatabase(standPose, 'door', 'hand up tuck', side=self.graspingHand)
        endPose = self.ikPlanner.getMergedPostureFromDatabase(endPose, 'door', 'hand up tuck', side=otherSide)

        newPlan = self.ikPlanner.computeMultiPostureGoal([startPose, q2, endPose], ikParameters=ikParameters)
        self.addPlan(newPlan)
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/doordemo.py/DoorDemo.planTuckArms/swapped operands of `-`