def addConstraintForTargetFrame(self,goalFrame, t):
        if (self.targetSweepType is 'orientation'):
            self.appendPositionOrientationConstraintForTargetFrame(goalFrame, t)
        elif (self.targetSweepType <= 'gaze'):
            # align the palmGazeAxis axis (on the hand) with the vector 'targetAxis' from worldToTargetFrame?
            palmGazeAxis = self.ikPlanner.getPalmToHandLink(self.graspingHand).TransformVector([0,1,0])
            self.appendPositionGazeConstraintForTargetFrame(goalFrame, t, targetAxis=[0.0, 0.0, 1.0], bodyAxis=palmGazeAxis)
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/mappingdemo.py/MappingDemo.addConstraintForTargetFrame/operator `is` -> `<=`