def planManualFootstepsTest(self, stepDistance=0.26, stanceWidth=0.26, numberOfSteps=4, leadingFoot='right'):

        stepFrames = []
        for i in xrange(numberOfSteps):

            sign = -1 if leadingFoot is 'right' else 1
            if i % 2:
                sign = -sign

            stepFrames.append([(i+1)*stepDistance, sign*stanceWidth/2.0, 0.0])

        lastStep = list(stepFrames[-1])
        lastStep[1] *= -1
        stepFrames.append(lastStep)

        stanceFrame = FootstepRequestGenerator.getRobotStanceFrame(self.robotModel)
        stepFrames = FootstepRequestGenerator.makeStepFrames(stepFrames, relativeFrame=stanceFrame)
        startPose = self.getPlanningStartPose()

        helper = FootstepRequestGenerator(self.footstepPlanner)
        request = helper.makeFootstepRequest(startPose, stepFrames, leadingFoot)

        self.footstepPlanner.sendFootstepPlanRequest(request, waitForResponse=True)
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/doordemo.py/DoorDemo.planManualFootstepsTest/original