def computeDoorHingeFrame(self):
        doorSide = 1 if self.graspingHand == 'left' else -1
        doorAffordance = om.findObjectByName('door')
        doorDimensions = doorAffordance.getProperty('Dimensions')
        doorDepth = doorDimensions[0]
        doorWidth = doorDimensions[1]
        t = transformUtils.frameFromPositionAndRPY([doorDepth/2, -doorSide*2.0/doorWidth, 0.0], [0, 0, 0])
        t.PostMultiply()
        t.Concatenate(transformUtils.copyFrame(doorAffordance.getChildFrame().transform))
        self.doorHingeFrame = vis.updateFrame(t, 'door hinge frame', parent=doorAffordance,
                                              visible=False, scale=0.2)
        return self.doorHingeFrame
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/doordemo.py/DoorDemo.computeDoorHingeFrame/swapped operands of `/`