def describe(self):

        print '----------'
        print '%d transforms' % len(self.transforms)
        if not self.transforms:
            return

        time0, transform0 = self.transforms[0]
        o0 = np.array(transform0.GetOrientation())
        p0 = np.array(transform0.GetPosition())
        for timeN, transformN in self.transforms:
            oN = np.array(transformN.GetOrientation())
            pN = np.array(transformN.GetPosition())
            oD = o0 - oN
            pD = pN - p0
            print '%.2f: [%.3f, %.3f, %.3f]  [%.3f, %.3f, %.3f]  ' % ((timeN - time0), oD[0], oD[1], oD[2], pD[0], pD[1], pD[2])
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/statelistener.py/StateListener.describe/swapped operands of `-`