def fitSwitchBox(self, polyData, points):
        boxPosition = points[0]
        wallPoint = points[1]


        # find a frame that is aligned with wall
        searchRadius = 0.2
        planePoints, normal = segmentation.applyLocalPlaneFit(polyData, points[0], searchRadius=np.linalg.norm(points[0] - points[1]), searchRadiusEnd=1.0)

        obj = vis.updatePolyData(planePoints, 'wall plane points', color=[0,1,0], visible=False)
        obj.setProperty('Point Size', 7)

        viewDirection = segmentation.SegmentationContext.getGlobalInstance().getViewDirection()
        if np.dot(normal, viewDirection) < 0:
            normal = -normal

        origin = segmentation.computeCentroid(planePoints)

        zaxis = [0,0,1]
        xaxis = normal
        yaxis = np.cross(zaxis, xaxis)
        yaxis /= np.linalg.norm(yaxis)
        zaxis = np.cross(xaxis, yaxis)
        zaxis /= np.linalg.norm(zaxis)

        t = transformUtils.getTransformFromAxes(xaxis, yaxis, zaxis)

        # translate that frame to the box position
        t.PostMultiply()
        t.Translate(boxPosition)

        boxFrame = transformUtils.copyFrame(t)
        self.switchPlanner.spawnBoxAffordanceAtFrame(boxFrame)
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/surprisetask.py/ImageFitter.fitSwitchBox/swapped operands of `-`