human
Solve the following python programming problem given the following code:
def computeDoorHandleGraspFrame(self) : 
    doorSide = (1 if (self.graspingHand == 'left') else (- 1)) 
    graspOrientation = self.computeGraspOrientation () 
    self.doorHandleAxisFrame = self.computeDoorHandleAxisFrame () 
    def makeFrame(name, offset, turnAngle = 0) : 
        t = transformUtils.frameFromPositionAndRPY (offset, graspOrientation) 
        t.PostMultiply () 
        t.Concatenate (transformUtils.frameFromPositionAndRPY ([0.0, 0.0, 0.0], [(- turnAngle), 0, 0])) 
        t.Concatenate (transformUtils.copyFrame (self.doorHandleAxisFrame.transform)) 
        return vis.updateFrame (t, name, parent = self.doorHandleAffordance, visible = False, scale = 0.2) 
def makeFrameNew(name, transforms) : 
        t = transformUtils.concatenateTransforms (transforms) 
        return vis.updateFrame (t, name, parent = self.doorHandleAffordance, visible = False, scale = 0.2) 
graspToAxisTransform = transformUtils.frameFromPositionAndRPY ([0.0, 0.0, 0.0], graspOrientation) 
    self.doorHandleGraspFrame = makeFrameNew ('door handle grasp frame', [graspToAxisTransform, self.doorHandleAxisFrame.transform]) 
    if self.usePinchGrasp : 
        reachToGraspTransform = transformUtils.frameFromPositionAndRPY ([((- doorSide) * self.handleTouchWidth), self.handleTouchDepth, (- self.handleTouchHeight)], [0.0, 0.0, 0.0]) 
        self.doorHandleReachFrame = makeFrameNew ('door handle reach frame', [reachToGraspTransform, self.doorHandleGraspFrame.transform]) 
        handleTurnTransform = transformUtils.frameFromPositionAndRPY ([0.0, 0.0, 0.0], [(- self.handleTurnAngle), 0, 0]) 
        self.doorHandleTurnFrame = makeFrameNew ('door handle turn frame', [reachToGraspTransform, graspToAxisTransform, handleTurnTransform, self.doorHandleAxisFrame.transform]) 
        handlePushTransform = transformUtils.frameFromPositionAndRPY ([0.0, 0.0, 0.0], [0, 0, self.handlePushAngle]) 
        self.doorHandlePushFrame = makeFrameNew ('door handle push frame', [self.doorHandleTurnFrame.transform,...

    
    

    Fix the buggy line: self.doorHandlePushLiftAxisFrame = makeFrameNew ('door handle push lift axis frame', [obj.doorHandleAxisFrame.transform, self.doorHingeFrame.transform.GetInverse (), handlePushTransform, self.doorHingeFrame.transform])
assistant
#Here is Python program to fix the buggy line: self.

self.doorHandlePushLiftAxisFrame = makeFrameNew ('door handle push lift axis frame', [self.doorHandleAxisFrame.transform, self.doorHingeFrame.transform.GetInverse (), handlePushTransform, self.doorHingeFrame.transform])