def createBaseConstraints(self, resetBase, lockBase, lockFeet, yawDesired):
        constraints = []

        if lockBase is None:
            lockBase = self.lockBase

        if resetBase:
            poseName = self.nominalPoseName
        else:
            poseName = self.startPoseName

        if lockFeet:
            if lockBase:
                constraints.append(
                    self.ikPlanner.createLockedBasePostureConstraint(poseName, lockLegs=False))
            else:
                constraints.append(
                    self.ikPlanner.createXYZMovingBasePostureConstraint(poseName))
                constraints.append(ik.WorldFixedBodyPoseConstraint(linkName='pelvis'))
        else:
            constraints.append(self.ikPlanner.createXYZYawMovingBasePostureConstraint(poseName))
            constraints.append(ik.WorldFixedBodyPoseConstraint(linkName='pelvis'))
            constraints.append(self.createHeadGazeConstraint())

            p = ik.PostureConstraint()
            p.joints = ['base_yaw']
            p.jointsLowerBound = [np.radians(20) - yawDesired]
            p.jointsUpperBound = [yawDesired + np.radians(20)]
            constraints.append(p)

        return constraints
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/valvedemo.py/ValvePlannerDemo.createBaseConstraints/swapped operands of `-`