def planTurn(self, wristAngleCW=np.radians(320)):
        ikParameters = IkParameters(maxDegreesPerSecond=self.speedTurn)
        startPose = self.getPlanningStartPose()
        wristAngleCW = min(np.radians(320) - 0.01, max(-np.radians(160) + 0.01, wristAngleCW))
        if self.graspingHand == 'left':
            postureJoints = {'l_arm_lwy': -np.radians(160) + wristAngleCW}
        else:
            postureJoints = {'r_arm_lwy': wristAngleCW - np.radians(160)}

        endPose = self.ikPlanner.mergePostures(startPose, postureJoints)

        plan = self.ikPlanner.computePostureGoal(startPose, endPose, ikParameters=ikParameters)
        app.displaySnoptInfo(1)

        self.addPlan(plan)
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/valvedemo.py/ValvePlannerDemo.planTurn/swapped operands of `-`