us.ihmc.humanoidRobotics.footstep.FootSpoof.getSoleFrame java code examples

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private void setupConsistencyChecks()
{
 newTestStartConsistency = true;
 copWaypointsFromPreviousPlan = new ArrayList<>();
 CoPPointsInFoot copPointsInFoot = new CoPPointsInFoot(testClassName, 0, new ReferenceFrame[] {worldFrame, feet.get(RobotSide.LEFT).getSoleFrame(),
    feet.get(RobotSide.RIGHT).getSoleFrame()}, registry);
 copWaypointsFromPreviousPlan.add(copPointsInFoot);
 icpCornerPointsFromPreviousPlan = new RecyclingArrayList<>(FramePoint3D::new);
 comCornerPointsFromPreviousPlan = new RecyclingArrayList<>(FramePoint3D::new);
 for (int i = 0; i < numberOfFootstepsToTestForConsistency; i++)
 {
   copPointsInFoot = new CoPPointsInFoot(testClassName, i + 1, new ReferenceFrame[] {worldFrame, feet.get(RobotSide.LEFT).getSoleFrame(),
      feet.get(RobotSide.RIGHT).getSoleFrame()}, registry);
   copWaypointsFromPreviousPlan.add(copPointsInFoot);
 }
}

@ContinuousIntegrationTest(estimatedDuration = 0.1)
@Test(timeout = 30000)
public void testAddAndSetIncludingFrameWithFramePoint()
{
 FramePoint3D testLocation = new FramePoint3D(footSpoof.getSoleFrame(), Math.random(), Math.random(), Math.random());
 assertTrue(copPointsInFoot.isEmpty());
 copPointsInFoot.addWaypoint(CoPPointName.MIDFOOT_COP, 0.2, testLocation);
 assertEquals(1, copPointsInFoot.getCoPPointList().size());
 testLocation.changeFrame(worldFrame);
 EuclidFrameTestTools.assertFramePoint3DGeometricallyEquals(testLocation, copPointsInFoot.get(0).getPosition(), epsilon);
 assertEquals(0.2, copPointsInFoot.get(0).getTime(), epsilon);
}

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testAddAndSetIncludingFrameWithCoPTrajectoryPoint()
{
 CoPTrajectoryPoint testLocation1 = new CoPTrajectoryPoint("TestLocation1", "", null, framesToRegister);
 CoPTrajectoryPoint testLocation2 = new CoPTrajectoryPoint("TestLocation2", "", null, framesToRegister);
 testLocation1.changeFrame(footSpoof.getSoleFrame());
 testLocation1.setPosition(new FramePoint3D(footSpoof.getSoleFrame(), Math.random(), Math.random(), Math.random()));
 testLocation2.changeFrame(footSpoof.getSoleFrame());
 testLocation2.setPosition(new FramePoint3D(footSpoof.getSoleFrame(), Math.random(), Math.random(), Math.random()));
 copPointsInFoot.addWaypoint(CoPPointName.ENTRY_COP, 0.87, testLocation1);
 copPointsInFoot.addWaypoint(CoPPointName.MIDFOOT_COP, 0.12, testLocation2);
 assertEquals(2, copPointsInFoot.getCoPPointList().size());
 EuclidFrameTestTools.assertFramePoint3DGeometricallyEquals(testLocation1.getPosition(), copPointsInFoot.get(0).getPosition(), epsilon);
 assertEquals(0.87, copPointsInFoot.get(0).getTime(), epsilon);
 EuclidFrameTestTools.assertFramePoint3DGeometricallyEquals(testLocation2.getPosition(), copPointsInFoot.get(1).getPosition(), epsilon);
 assertEquals(0.12, copPointsInFoot.get(1).getTime(), epsilon);
 FramePoint3D tempFramePointForTesting = new FramePoint3D(footSpoof.getSoleFrame());
 copPointsInFoot.getFinalCoPPosition(tempFramePointForTesting);
 EuclidFrameTestTools.assertFramePoint3DGeometricallyEquals(testLocation2.getPosition(), tempFramePointForTesting, epsilon);
}

@ContinuousIntegrationTest(estimatedDuration = 0.1)
@Test(timeout = 30000)
public void testAddAndSetIncludingFrameWithYoFramePoint()
{
 YoFramePoint3D testLocation1 = new YoFramePoint3D("TestLocation1", footSpoof.getSoleFrame(), null);
 YoFramePoint3D testLocation2 = new YoFramePoint3D("TestLocation2", footSpoof.getSoleFrame(), null);
 testLocation1.set(Math.random(), Math.random(), Math.random());
 testLocation2.set(Math.random(), Math.random(), Math.random());
 copPointsInFoot.addWaypoint(CoPPointName.ENTRY_COP, 0.87, testLocation1);
 copPointsInFoot.addWaypoint(CoPPointName.MIDFOOT_COP, 0.12, testLocation2);
 assertEquals(2, copPointsInFoot.getCoPPointList().size());
 FramePoint3D pointToTest = new FramePoint3D(testLocation1);
 pointToTest.changeFrame(worldFrame);
 EuclidFrameTestTools.assertFramePoint3DGeometricallyEquals(pointToTest, copPointsInFoot.get(0).getPosition(), epsilon);
 assertEquals(0.87, copPointsInFoot.get(0).getTime(), epsilon);
 pointToTest = new FramePoint3D(testLocation2);
 pointToTest.changeFrame(worldFrame);
 EuclidFrameTestTools.assertFramePoint3DGeometricallyEquals(pointToTest, copPointsInFoot.get(1).getPosition(), epsilon);
 assertEquals(0.12, copPointsInFoot.get(1).getTime(), epsilon);
}

private void updateCurrentFootsteps()
{
 for (RobotSide side : RobotSide.values)
 {
   YoFramePoseUsingYawPitchRoll footPose = currentFootLocations.get(side);
   if (contactStates.get(side).inContact())
   {
    footPose.setFromReferenceFrame(feet.get(side).getSoleFrame());
   }
   else
   {
    footPose.setToNaN();
   }
 }
}

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testGetToeOffContactPoint()
{
 RobotSide trailingSide = RobotSide.LEFT;
 FramePoint3D exitCMP = new FramePoint3D();
 FramePoint2D desiredCMP = new FramePoint2D();
 FramePoint2D toeOffPoint = new FramePoint2D();
 exitCMP.setToZero(contactableFeet.get(trailingSide).getSoleFrame());
 desiredCMP.setToZero(contactableFeet.get(trailingSide).getSoleFrame());
 toeOffPoint.setToZero(contactableFeet.get(trailingSide).getSoleFrame());
 exitCMP.setX(0.05);
 desiredCMP.setX(0.05);
 generator = new WrapperForMultipleToeOffCalculators(toeOffCalculators, parentRegistry);
 generator.setExitCMP(exitCMP, trailingSide);
 generator.computeToeOffContactPoint(desiredCMP, trailingSide);
 generator.getToeOffContactPoint(toeOffPoint, trailingSide);
}

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testGetToeOffContactPoint()
{
 RobotSide trailingSide = RobotSide.LEFT;
 FramePoint3D exitCMP = new FramePoint3D();
 FramePoint2D desiredCMP = new FramePoint2D();
 FramePoint2D toeOffPoint = new FramePoint2D();
 exitCMP.setToZero(contactableFeet.get(trailingSide).getSoleFrame());
 desiredCMP.setToZero(contactableFeet.get(trailingSide).getSoleFrame());
 toeOffPoint.setToZero(contactableFeet.get(trailingSide).getSoleFrame());
 exitCMP.setX(0.05);
 desiredCMP.setX(0.05);
 toeOffCalculator = new CentroidProjectionToeOffCalculator(contactStates, contactableFeet, getToeOffParameters(), parentRegistry);
 toeOffCalculator.setExitCMP(exitCMP, trailingSide);
 toeOffCalculator.computeToeOffContactPoint(desiredCMP, trailingSide);
 toeOffCalculator.getToeOffContactPoint(toeOffPoint, trailingSide);
}

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testComputeToeOffContactPoint()
{
 RobotSide trailingSide = RobotSide.LEFT;
 FramePoint3D exitCMP = new FramePoint3D();
 FramePoint2D desiredCMP = new FramePoint2D();
 exitCMP.setToZero(contactableFeet.get(trailingSide).getSoleFrame());
 desiredCMP.setToZero(contactableFeet.get(trailingSide).getSoleFrame());
 exitCMP.setX(0.05);
 desiredCMP.setX(0.05);
 generator = new WrapperForMultipleToeOffCalculators(toeOffCalculators, parentRegistry);
 generator.setExitCMP(exitCMP, trailingSide);
 generator.computeToeOffContactPoint(desiredCMP, trailingSide);
}

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testComputeToeOffContactPoint()
{
 RobotSide trailingSide = RobotSide.LEFT;
 FramePoint3D exitCMP = new FramePoint3D();
 FramePoint2D desiredCMP = new FramePoint2D();
 exitCMP.setToZero(contactableFeet.get(trailingSide).getSoleFrame());
 desiredCMP.setToZero(contactableFeet.get(trailingSide).getSoleFrame());
 exitCMP.setX(0.05);
 desiredCMP.setX(0.05);
 toeOffCalculator = new CentroidProjectionToeOffCalculator(contactStates, contactableFeet, getToeOffParameters(), parentRegistry);
 toeOffCalculator.setExitCMP(exitCMP, trailingSide);
 toeOffCalculator.computeToeOffContactPoint(desiredCMP, trailingSide);
}

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testSetExitCMP()
{
 RobotSide trailingSide = RobotSide.LEFT;
 FramePoint3D exitCMP = new FramePoint3D();
 exitCMP.setToZero(contactableFeet.get(trailingSide).getSoleFrame());
 exitCMP.setX(0.05);
 generator = new WrapperForMultipleToeOffCalculators(toeOffCalculators, parentRegistry);
 generator.setExitCMP(exitCMP, trailingSide);
}

private SideDependentList<Footstep> updatedStartFeet(double startX, double startY, double startYaw)
{
 double leftXFactor = initialDeltaFeetLocalX / 2 * Math.cos(startYaw) - initialDeltaFeetLocalY / 2 * Math.sin(startYaw);
 double leftYFactor = initialDeltaFeetLocalX / 2 * Math.sin(startYaw) + initialDeltaFeetLocalY / 2 * Math.cos(startYaw);
 QuadTreeFootstepSnapper footstepSnapper = new SimpleFootstepSnapper();
 Point2D leftFootStartPoint = new Point2D(startX + leftXFactor, startY + leftYFactor);
 FramePose2D leftFootPose2d = new FramePose2D(WORLD_FRAME, leftFootStartPoint, startYaw + initialDeltaFeetYaw / 2);
 Point2D rightFootStartPoint = new Point2D(startX - leftXFactor, startY - leftYFactor);
 FramePose2D rightFootPose2d = new FramePose2D(WORLD_FRAME, rightFootStartPoint, startYaw - initialDeltaFeetYaw / 2);
 FramePoint3D leftPosition = new FramePoint3D(WORLD_FRAME, leftFootStartPoint.getX(), leftFootStartPoint.getY(), 0);
 FramePoint3D rightPosition = new FramePoint3D(WORLD_FRAME, rightFootStartPoint.getX(), rightFootStartPoint.getY(), 0);
 FrameQuaternion leftOrientation = new FrameQuaternion(WORLD_FRAME, leftFootPose2d.getYaw(), 0.0, 0.0);
 FrameQuaternion rightOrientation = new FrameQuaternion(WORLD_FRAME, rightFootPose2d.getYaw(), 0.0, 0.0);
 leftContactableFoot.setSoleFrame(leftPosition, leftOrientation);
 rightContactableFoot.setSoleFrame(rightPosition, rightOrientation);
 Footstep leftStart = footstepSnapper.generateFootstepWithoutHeightMap(leftFootPose2d, feet.get(RobotSide.LEFT), contactableFeet.get(RobotSide.LEFT).getSoleFrame(),
    RobotSide.LEFT, GROUND_HEIGHT, PLANE_NORMAL);
 Footstep rightStart = footstepSnapper.generateFootstepWithoutHeightMap(rightFootPose2d, feet.get(RobotSide.RIGHT), contactableFeet.get(RobotSide.RIGHT).getSoleFrame(),
    RobotSide.RIGHT, GROUND_HEIGHT, PLANE_NORMAL);
 SideDependentList<Footstep> startFeet = new SideDependentList<Footstep>(leftStart, rightStart);
 return startFeet;
}

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testSetExitCMP()
{
 RobotSide trailingSide = RobotSide.LEFT;
 FramePoint3D exitCMP = new FramePoint3D();
 exitCMP.setToZero(contactableFeet.get(trailingSide).getSoleFrame());
 exitCMP.setX(0.05);
 toeOffCalculator = new CentroidProjectionToeOffCalculator(contactStates, contactableFeet, getToeOffParameters(), parentRegistry);
 toeOffCalculator.setExitCMP(exitCMP, trailingSide);
}

@ContinuousIntegrationTest(estimatedDuration = 0.1)
@Test(timeout = 30000)
public void testVisualization()
{
 YoGraphicsList dummyGraphicsList = new YoGraphicsList("DummyGraphics");
 ArtifactList dummyArtifactList = new ArtifactList("DummyArtifacts");
 copPointsInFoot.setupVisualizers(dummyGraphicsList, dummyArtifactList, 0.05);
 assertEquals(dummyArtifactList.getArtifacts().size(), 10);
 assertEquals(dummyGraphicsList.getYoGraphics().size(), 10);
 copPointsInFoot.addWaypoint(CoPPointName.MIDFOOT_COP, 1.0, new FramePoint3D(footSpoof.getSoleFrame(), 1.0, 2.1, 3.1));
 YoGraphicPosition graphic = (YoGraphicPosition) dummyGraphicsList.getYoGraphics().get(0);
 assertEquals(1.0 - xToAnkle, graphic.getX(), 1e-5);
 assertEquals(2.1 - yToAnkle, graphic.getY(), 1e-5);
 assertEquals(3.1 - zToAnkle, graphic.getZ(), 1e-5);
}

ReferenceFrame soleFrame = contactableFoot.getSoleFrame();
List<FramePoint2D> contactFramePoints = contactableFoot.getContactPoints2d();
double coefficientOfFriction = contactableFoot.getCoefficientOfFriction();

@Before
public void setUp()
{
 parentRegistry = new YoVariableRegistry("parentRegistryTEST");
 for (RobotSide robotSide : RobotSide.values)
 {
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   double xToAnkle = 0.0;
   double yToAnkle = 0.0;
   double zToAnkle = 0.0;
   List<Point2D> contactPointsInSoleFrame = new ArrayList<>();
   contactPointsInSoleFrame.add(new Point2D(footLengthForControl / 2.0, toeWidthForControl / 2.0));
   contactPointsInSoleFrame.add(new Point2D(footLengthForControl / 2.0, -toeWidthForControl / 2.0));
   contactPointsInSoleFrame.add(new Point2D(-footLengthForControl / 2.0, -footWidthForControl / 2.0));
   contactPointsInSoleFrame.add(new Point2D(-footLengthForControl / 2.0, footWidthForControl / 2.0));
   FootSpoof contactableFoot = new FootSpoof(sidePrefix + "Foot", xToAnkle, yToAnkle, zToAnkle, contactPointsInSoleFrame, 0.0);
   FramePose3D startingPose = new FramePose3D();
   startingPose.setToZero(worldFrame);
   startingPose.setY(robotSide.negateIfRightSide(0.20));
   contactableFoot.setSoleFrame(startingPose);
   contactableFeet.put(robotSide, contactableFoot);
   RigidBodyBasics foot = contactableFoot.getRigidBody();
   ReferenceFrame soleFrame = contactableFoot.getSoleFrame();
   List<FramePoint2D> contactFramePoints = contactableFoot.getContactPoints2d();
   double coefficientOfFriction = contactableFoot.getCoefficientOfFriction();
   YoPlaneContactState yoPlaneContactState = new YoPlaneContactState(sidePrefix + "Foot", foot, soleFrame, contactFramePoints, coefficientOfFriction, parentRegistry);
   yoPlaneContactState.setFullyConstrained();
   contactStates.put(robotSide, yoPlaneContactState);
 }
}

FootSpoof contactableFoot = contactableFeet.get(robotSide);
RigidBodyBasics foot = contactableFoot.getRigidBody();
ReferenceFrame soleFrame = contactableFoot.getSoleFrame();
List<FramePoint2D> contactFramePoints = contactableFoot.getContactPoints2d();
double coefficientOfFriction = contactableFoot.getCoefficientOfFriction();
ankleFrames.put(robotSide, ankleFrame);
ankleZUpFrames.put(robotSide, new ZUpFrame(worldFrame, ankleFrame, robotSide.getCamelCaseNameForStartOfExpression() + "ZUp"));
soleFrames.put(robotSide, contactableFoot.getSoleFrame());

public void testFootstepAndPointsFromDataFile() throws NumberFormatException, InsufficientDataException, IOException
{
 QuadTreeFootstepSnappingParameters snappingParameters = new AtlasFootstepSnappingParameters();
 ConvexHullFootstepSnapper footstepSnapper = new ConvexHullFootstepSnapper(new SimpleFootstepValueFunction(snappingParameters), snappingParameters);
 double maskSafetyBuffer = 0.01;
 double boundingBoxDimension = 0.3;
 footstepSnapper.setUseMask(true, maskSafetyBuffer, boundingBoxDimension);
 String baseName = "footstepListsForTesting/";
 String resourceName = baseName + "DataFromConvexHullSnapper1422988400956.txt";
 InputStream resourceAsStream = getClass().getClassLoader().getResourceAsStream(resourceName);
 FootstepPointsDataReader dataReader = new FootstepPointsDataReader(resourceAsStream);
 FootstepDataMessage footstepData = new FootstepDataMessage();
 footstepData.setRobotSide(RobotSide.LEFT.toByte());
 FootSpoof spoof = new FootSpoof("basicSpoof");
 FramePose2D desiredPose = new FramePose2D(ReferenceFrame.getWorldFrame());
 List<Point3D> listOfPoints = new ArrayList<>();
 while (dataReader.hasAnotherFootstepAndPoints())
 {
   listOfPoints = dataReader.getNextSetPointsAndFootstep(footstepData);
   desiredPose.setIncludingFrame(ReferenceFrame.getWorldFrame(), footstepData.getLocation().getX(), footstepData.getLocation().getY(),
                    footstepData.getOrientation().getYaw());
   Footstep footstep = footstepSnapper.generateFootstepUsingHeightMap(desiredPose, spoof.getRigidBody(), spoof.getSoleFrame(),
              RobotSide.fromByte(footstepData.getRobotSide()), listOfPoints, 0.0);
   assertTrue(footstep.getFootstepType() != Footstep.FootstepType.BAD_FOOTSTEP);
 }
}

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testChangeFrame()
{
 copPointsInFoot.setFeetLocation(new FramePoint3D(worldFrame, 0.2, 0.1, 0.1), new FramePoint3D(worldFrame, 0.2, -0.1, 0.1));
 copPointsInFoot.addWaypoint(CoPPointName.MIDFOOT_COP, 0.2, new FramePoint3D(worldFrame, 0.2, 0.15, 0.1));
 copPointsInFoot.addWaypoint(CoPPointName.ENTRY_COP, 0.8, new FramePoint3D(worldFrame, 0.15, -0.05, 0.11));
 copPointsInFoot.changeFrame(footSpoof.getSoleFrame());
 FramePoint3D tempFramePoint = new FramePoint3D();
 copPointsInFoot.getSupportFootLocation(tempFramePoint);
 assertEquals(tempFramePoint.getReferenceFrame(), footSpoof.getSoleFrame());
 assertEquals(tempFramePoint.getX(), 0.2 + xToAnkle, epsilon);
 assertEquals(tempFramePoint.getY(), -0.1 + yToAnkle, epsilon);
 assertEquals(tempFramePoint.getZ(), 0.1 + zToAnkle, epsilon);
 assertEquals(copPointsInFoot.get(0).getReferenceFrame(), footSpoof.getSoleFrame());
 copPointsInFoot.get(0).getPosition(tempFramePoint);
 assertEquals(tempFramePoint.getX(), 0.2 + xToAnkle, epsilon);
 assertEquals(tempFramePoint.getY(), 0.15 + yToAnkle, epsilon);
 assertEquals(tempFramePoint.getZ(), 0.1 + zToAnkle, epsilon);
 assertEquals(copPointsInFoot.get(1).getReferenceFrame(), footSpoof.getSoleFrame());
 copPointsInFoot.get(1).getPosition(tempFramePoint);
 assertEquals(tempFramePoint.getX(), 0.15 + xToAnkle, epsilon);
 assertEquals(tempFramePoint.getY(), -0.05 + yToAnkle, epsilon);
 assertEquals(tempFramePoint.getZ(), 0.11 + zToAnkle, epsilon);
}

private BipedSupportPolygons setupBipedSupportPolygons(SideDependentList<FootSpoof> contactableFeet, YoVariableRegistry registry)
{
 SideDependentList<ReferenceFrame> ankleZUpFrames = new SideDependentList<>();
 SideDependentList<YoPlaneContactState> contactStates = new SideDependentList<>();
 for (RobotSide robotSide : RobotSide.values)
 {
   FootSpoof contactableFoot = contactableFeet.get(robotSide);
   ReferenceFrame ankleFrame = contactableFoot.getFrameAfterParentJoint();
   ankleFrames.put(robotSide, ankleFrame);
   ankleZUpFrames.put(robotSide, new ZUpFrame(worldFrame, ankleFrame, robotSide.getCamelCaseNameForStartOfExpression() + "ZUp"));
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   RigidBodyBasics foot = contactableFoot.getRigidBody();
   ReferenceFrame soleFrame = contactableFoot.getSoleFrame();
   List<FramePoint2D> contactFramePoints = contactableFoot.getContactPoints2d();
   double coefficientOfFriction = contactableFoot.getCoefficientOfFriction();
   YoPlaneContactState yoPlaneContactState = new YoPlaneContactState(sidePrefix + "Foot", foot, soleFrame, contactFramePoints, coefficientOfFriction, registry);
   yoPlaneContactState.setFullyConstrained();
   contactStates.put(robotSide, yoPlaneContactState);
 }
 ReferenceFrame midFeetZUpFrame = new MidFrameZUpFrame("midFeetZupFrame", worldFrame, ankleZUpFrames.get(RobotSide.LEFT), ankleZUpFrames.get(RobotSide.RIGHT));
 midFeetZUpFrame.update();
 BipedSupportPolygons bipedSupportPolygons = new BipedSupportPolygons(midFeetZUpFrame, ankleZUpFrames, registry, null);
 bipedSupportPolygons.updateUsingContactStates(contactStates);
 return bipedSupportPolygons;
}

private BipedSupportPolygons setupBipedSupportPolygons(SideDependentList<FootSpoof> contactableFeet, YoVariableRegistry registry)
{
 SideDependentList<ReferenceFrame> ankleZUpFrames = new SideDependentList<>();
 SideDependentList<YoPlaneContactState> contactStates = new SideDependentList<>();
 for (RobotSide robotSide : RobotSide.values)
 {
   FootSpoof contactableFoot = contactableFeet.get(robotSide);
   ReferenceFrame ankleFrame = contactableFoot.getFrameAfterParentJoint();
   ankleFrames.put(robotSide, ankleFrame);
   ankleZUpFrames.put(robotSide, new ZUpFrame(worldFrame, ankleFrame, robotSide.getCamelCaseNameForStartOfExpression() + "ZUp"));
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   RigidBodyBasics foot = contactableFoot.getRigidBody();
   ReferenceFrame soleFrame = contactableFoot.getSoleFrame();
   List<FramePoint2D> contactFramePoints = contactableFoot.getContactPoints2d();
   double coefficientOfFriction = contactableFoot.getCoefficientOfFriction();
   YoPlaneContactState yoPlaneContactState = new YoPlaneContactState(sidePrefix + "Foot", foot, soleFrame, contactFramePoints, coefficientOfFriction, registry);
   yoPlaneContactState.setFullyConstrained();
   contactStates.put(robotSide, yoPlaneContactState);
 }
 ReferenceFrame midFeetZUpFrame = new MidFrameZUpFrame("midFeetZupFrame", worldFrame, ankleZUpFrames.get(RobotSide.LEFT), ankleZUpFrames.get(RobotSide.RIGHT));
 midFeetZUpFrame.update();
 BipedSupportPolygons bipedSupportPolygons = new BipedSupportPolygons(midFeetZUpFrame, ankleZUpFrames, registry, null);
 bipedSupportPolygons.updateUsingContactStates(contactStates);
 return bipedSupportPolygons;
}

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How to use getSoleFramemethodin us.ihmc.humanoidRobotics.footstep.FootSpoof

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How to use
getSoleFrame
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us.ihmc.humanoidRobotics.footstep.FootSpoof