def planSequenceTargetSweep(self):
        self.graspingHand = 'left'
        self.planFromCurrentRobotState = False
        self.plans = []
        self.graspToHandLinkFrame = self.ikPlanner.newGraspToHandFrame(self.graspingHand)

        self.planTargetReach()

        self.nextPosition =[0,0,0]
        self.targetPath = []
        self.resetTargetPath()

        self.computeNextTargetFrame()
        self.initConstraintSet()
        self.targetPath.append(self.faceTransformLocal)

        pointsPerSide = 3
        deltaDistance = self.targetAffordance.params.get('length') / pointsPerSide # 5cm was good
        for i in xrange(pointsPerSide*0,pointsPerSide*1):
            self.nextPosition[0] += -deltaDistance
            self.computeNextTargetFrame()
            self.addConstraintForTargetFrame(self.faceFrameDesired, i+1)
            self.targetPath.append(self.faceTransformLocal)

        for i in xrange(pointsPerSide*1,pointsPerSide*2):
            self.nextPosition[2] += deltaDistance
            self.computeNextTargetFrame()
            self.addConstraintForTargetFrame(self.faceFrameDesired, i+1)
            self.targetPath.append(self.faceTransformLocal)

        for i in xrange(pointsPerSide*2,pointsPerSide*3):
            self.nextPosition[0] += deltaDistance
            self.computeNextTargetFrame()
            self.addConstraintForTargetFrame(self.faceFrameDesired, i+1)
            self.targetPath.append(self.faceTransformLocal)

        for i in xrange(pointsPerSide*3,pointsPerSide*4):
            self.nextPosition[2] += -deltaDistance
            self.computeNextTargetFrame()
            self.addConstraintForTargetFrame(self.faceFrameDesired, i+1)
            self.targetPath.append(self.faceTransformLocal)

        self.drawTargetPath()
        #self.ikPlanner.ikServer.maxDegreesPerSecond = self.speedLow
        self.planTrajectory()
        #self.ikPlanner.ikServer.maxDegreesPerSecond = self.speedHigh


    # Module to sweep the kuka arm around in a sphere - for map building
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/mappingdemo.py/MappingDemo.planSequenceTargetSweep/original