def onNewWalkingGoal(self, walkingGoal=None):

        walkingGoal = walkingGoal or self.newWalkingGoalFrame(self.robotModel)
        frameObj = vis.updateFrame(walkingGoal, 'walking goal', parent='planning', scale=0.25)
        frameObj.setProperty('Edit', True)


        rep = frameObj.widget.GetRepresentation()
        rep.SetTranslateAxisEnabled(2, False)
        rep.SetRotateAxisEnabled(0, False)
        rep.SetRotateAxisEnabled(1, False)
        frameObj.widget.HandleRotationEnabledOff()

        if self.placer:
            self.placer.stop()

        terrain = om.findObjectByName('HEIGHT_MAP_SCENE')
        if terrain:

            pos = np.array(frameObj.transform.GetPosition())

            polyData = filterUtils.removeNonFinitePoints(terrain.polyData)
            if polyData.GetNumberOfPoints():
                polyData = segmentation.labelDistanceToLine(polyData, pos, pos+[0,0,1])
                polyData = segmentation.thresholdPoints(polyData, 'distance_to_line', [0.0, 0.1])
                if polyData.GetNumberOfPoints():
                    pos[2] = np.nanmax(vnp.getNumpyFromVtk(polyData, 'Points')[:,2])
                    frameObj.transform.Translate(np.array(frameObj.transform.GetPosition()) - pos)

            d = DebugData()
            d.addSphere((0,0,0), radius=0.03)
            handle = vis.showPolyData(d.getPolyData(), 'walking goal terrain handle', parent=frameObj, visible=True, color=[1,1,0])
            handle.actor.SetUserTransform(frameObj.transform)
            self.placer = PlacerWidget(app.getCurrentRenderView(), handle, terrain)

            def onFramePropertyModified(propertySet, propertyName):
                if propertyName == 'Edit':
                    if propertySet.getProperty(propertyName):
                        self.placer.start()
                    else:
                        self.placer.stop()

            frameObj.properties.connectPropertyChanged(onFramePropertyModified)
            onFramePropertyModified(frameObj, 'Edit')

        frameObj.connectFrameModified(self.onWalkingGoalModified)
        self.onWalkingGoalModified(frameObj)
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/footstepsdriverpanel.py/FootstepsPanel.onNewWalkingGoal/swapped operands of `-`