def planRetract(self, **kwargs):
        startPose = self.getPlanningStartPose()
        if self.graspingHand == 'left':
            jointId = robotstate.getDrakePoseJointNames().index('l_arm_lwy')
            wristAngleCW = np.radians(160) + startPose[jointId]
        else:
            jointId = robotstate.getDrakePoseJointNames().index('r_arm_lwy')
            wristAngleCW = np.radians(160) - startPose[jointId]
        plan = self.planInsertTraj(self.speedLow, retract=True, lockBase=True, lockFeet=True,
                                   usePoses=True, planFromCurrentRobotState=True, resetPoses=False,
                                   wristAngleCW=wristAngleCW, **kwargs)
        self.addPlan(plan)
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/valvedemo.py/ValvePlannerDemo.planRetract/original