def planHumanValveTurn(self):
        initialReachAngle = self.reachAngle
        # 10deg per sample
        numberOfSamples = abs(int(round(self.turnAngle / 10.0)))
        degreeStep = float(self.turnAngle) / numberOfSamples

        facePath = []
        self.resetTurnPath()

        reachAngle = initialReachAngle
        faceFrameDesired = self.computeHumanTouchFrame(touchValve=True, reachAngle=reachAngle)
        self.initConstraintSet(faceFrameDesired)
        facePath.append(faceFrameDesired)

        for i in xrange(numberOfSamples):
            # reachAngle += self.scribeDirection*degreeStep
            reachAngle += degreeStep
            faceFrameDesired = self.computeHumanTouchFrame(touchValve=True, reachAngle=reachAngle)
            self.appendPositionOrientationConstraintForTargetFrame(faceFrameDesired, i + 1)
            facePath.append(faceFrameDesired)

        self.facePath = facePath
        self.drawFacePath(facePath)
        self.planTrajectory()
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/valvedemo.py/ValvePlannerDemo.planHumanValveTurn/original