us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry.<init>()方法的使用及代码示例

x33g5p2x  于2022-02-05 转载在 其他  
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本文整理了Java中us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry.<init>()方法的一些代码示例，展示了YoGraphicsListRegistry.<init>()的具体用法。这些代码示例主要来源于Github/Stackoverflow/Maven等平台，是从一些精选项目中提取出来的代码，具有较强的参考意义，能在一定程度帮忙到你。YoGraphicsListRegistry.<init>()方法的具体详情如下：
包路径：us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry
类名称：YoGraphicsListRegistry
方法名：<init>

YoGraphicsListRegistry.<init>介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

private void setupYoRegistries()
{
 yoGraphicsListRegistry = new YoGraphicsListRegistry();
 yoGraphicsListRegistry.setYoGraphicsUpdatedRemotely(true);
 yoGraphicsListRegistryForDetachedOverhead = new YoGraphicsListRegistry();
}

代码示例来源：origin: us.ihmc/simulation-construction-set-test

private YoGraphicsListRegistry createYoGraphicsListRegistryWithObject()
{
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 YoGraphicsList yoGraphicsList = new YoGraphicsList(yoGraphicsListName);
 yoGraphicsList.add(yoGraphic);
 yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 return yoGraphicsListRegistry;
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

private void initializeCollisionManager()
{
 if (useShapeCollision)
 {
   double coefficientOfRestitution = 0.0;
   double coefficientOfFriction = 0.9;
   HybridImpulseSpringDamperCollisionHandler collisionHandler = new HybridImpulseSpringDamperCollisionHandler(coefficientOfRestitution,
                                                        coefficientOfFriction,
                                                        simulationConstructionSet.getRootRegistry(),
                                                        new YoGraphicsListRegistry());
   collisionHandler.setKp(100000);
   collisionHandler.setKd(500);
   CollisionManager collisionManager = new CollisionManager(commonAvatarEnvironment.get().getTerrainObject3D(), collisionHandler);
   simulationConstructionSet.initializeShapeCollision(collisionManager);
 }
}

代码示例来源：origin: us.ihmc/IHMCHumanoidBehaviors

public static PlanarRegionBipedalFootstepPlannerVisualizer createWithYoVariableServer(double dtForViz, FullRobotModel fullRobotModel,
                                           LogModelProvider logModelProvider,
                                           SideDependentList<ConvexPolygon2d> footPolygonsInSoleFrame, String namePrefix)
{
 YoVariableRegistry registry = new YoVariableRegistry(PlanarRegionBipedalFootstepPlannerVisualizerFactory.class.getSimpleName());
 YoGraphicsListRegistry graphicsListRegistry = new YoGraphicsListRegistry();
 PlanarRegionBipedalFootstepPlannerVisualizer footstepPlannerVisualizer = new PlanarRegionBipedalFootstepPlannerVisualizer(10, footPolygonsInSoleFrame,
                                                              registry, graphicsListRegistry);
 PeriodicThreadScheduler scheduler = new PeriodicNonRealtimeThreadScheduler("PlannerScheduler");
 YoVariableServer yoVariableServer = new YoVariableServer(namePrefix + PlanarRegionBipedalFootstepPlannerVisualizerFactory.class.getSimpleName(), scheduler, logModelProvider,
                              LogSettings.FOOTSTEP_PLANNER, dtForViz);
 yoVariableServer.setSendKeepAlive(true);
 footstepPlannerVisualizer.setTickAndUpdatable(yoVariableServer);
 yoVariableServer.setMainRegistry(registry, fullRobotModel, graphicsListRegistry);
 yoVariableServer.start();
 return footstepPlannerVisualizer;
}

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

private void setupVisualization()
{
 this.graphicsListRegistry = new YoGraphicsListRegistry();
 setupTrackBallsVisualization();
 setupCornerPointBallsVisualization();
 setupNextFootstepVisualization();
 setupCurrentFootPoseVisualization();
 setupPositionGraphics();
 setupSCS();
}

代码示例来源：origin: us.ihmc/ihmc-simulation-toolkit

public ActualCMPComputer(boolean createViz, SimulationConstructionSet scs, FloatingRootJointRobot simulatedRobot)
{
 this.simulatedRobot = simulatedRobot;
 simulateDT = scs.getDT();
 gravity = simulatedRobot.getGravityZ();
 momentumChange = FilteredVelocityYoFrameVector
    .createFilteredVelocityYoFrameVector("rateOfChangeLinearMomentum", "", alpha, simulateDT, registry, yoLinearMomentum);
 if (createViz)
 {
   yoGraphicsListRegistry = new YoGraphicsListRegistry();
   YoArtifactPosition cmpViz = new YoArtifactPosition("SimulationCMP", yoCmp.getYoX(), yoCmp.getYoY(), GraphicType.BALL_WITH_CROSS, Color.RED, 0.005);
   cmpViz.setVisible(visibleByDefault);
   yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), cmpViz);
   scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
 else
 {
   yoGraphicsListRegistry = null;
 }
}

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

public ActualCMPComputer(boolean createViz, SimulationConstructionSet scs, HumanoidFloatingRootJointRobot simulatedRobot)
{
 this.simulatedRobot = simulatedRobot;
 simulateDT = scs.getDT();
 gravity = simulatedRobot.getGravityZ();
 momentumChange = FilteredVelocityYoFrameVector.createFilteredVelocityYoFrameVector("rateOfChangeLinearMomentum", "", alpha, simulateDT, registry, yoLinearMomentum);
 if (createViz)
 {
   yoGraphicsListRegistry = new YoGraphicsListRegistry();
   YoArtifactPosition cmpViz = new YoArtifactPosition("SimulationCMP", yoCmp.getYoX(), yoCmp.getYoY(),
      GraphicType.BALL_WITH_CROSS, Color.RED , 0.005);
   cmpViz.setVisible(visibleByDefault);
   yoGraphicsListRegistry.registerArtifact(getClass().getSimpleName(), cmpViz);
   scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
 else
 {
   yoGraphicsListRegistry = null;
 }
}

代码示例来源：origin: us.ihmc/IHMCAvatarInterfaces

public FootstepPlanningToolboxController(DRCRobotModel drcRobotModel, FullHumanoidRobotModel fullHumanoidRobotModel,
                      StatusMessageOutputManager statusOutputManager, PacketCommunicator packetCommunicator,
                      YoVariableRegistry parentRegistry, double dt)
  {
   super(statusOutputManager, parentRegistry);
   this.packetCommunicator = packetCommunicator;
   this.contactPointParameters = drcRobotModel.getContactPointParameters();
   this.walkingControllerParameters = drcRobotModel.getWalkingControllerParameters();
   this.dt = dt;
   packetCommunicator.attachListener(PlanarRegionsListMessage.class, createPlanarRegionsConsumer());

//      SideDependentList<ConvexPolygon2d> footPolygons = new SideDependentList<>();
//      for (RobotSide side : RobotSide.values)
//         footPolygons.set(side, new ConvexPolygon2d(contactPointParameters.getFootContactPoints().get(side)));

   SideDependentList<ConvexPolygon2d> planningPolygonsInSoleFrame = FootstepPlannerForBehaviorsHelper.createDefaultFootPolygonsForAnytimePlannerAndPlannerToolbox(contactPointParameters);
   SideDependentList<ConvexPolygon2d> controllerPolygonsInSoleFrame = FootstepPlannerForBehaviorsHelper.createDefaultFootPolygons(contactPointParameters, 1.0, 1.0);

   humanoidReferenceFrames = createHumanoidReferenceFrames(fullHumanoidRobotModel);
   footstepDataListWithSwingOverTrajectoriesAssembler = new FootstepDataListWithSwingOverTrajectoriesAssembler(humanoidReferenceFrames, walkingControllerParameters, parentRegistry, new YoGraphicsListRegistry());
   
   plannerMap.put(Planners.PLANAR_REGION_BIPEDAL, createPlanarRegionBipedalPlanner(planningPolygonsInSoleFrame, controllerPolygonsInSoleFrame));
   plannerMap.put(Planners.PLAN_THEN_SNAP, new PlanThenSnapPlanner(new TurnWalkTurnPlanner(), planningPolygonsInSoleFrame));
   activePlanner.set(Planners.PLANAR_REGION_BIPEDAL);

   usePlanarRegions.set(true);
   isDone.set(true);
  }

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

public static void main(String argv[]) throws FileNotFoundException, JAXBException, MalformedURLException
{
 Robot robot = new Robot("robot");
 SimulationConstructionSet scs = new SimulationConstructionSet(robot);
 
 DRCVehicleSDFLoader drcVehicleSDFLoader = new DRCVehicleSDFLoader();
 scs.addStaticLinkGraphics(drcVehicleSDFLoader.loadDRCVehicle(false));
 RigidBodyTransform vehicleToWorldTransform = new RigidBodyTransform();
 ReferenceFrame vehicleFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent("vehicle", ReferenceFrame.getWorldFrame(),
    vehicleToWorldTransform);
 VehicleModelObjects vehicleModelObjects = new VehicleModelObjects();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 YoVariableRegistry registry = scs.getRootRegistry();
 VehicleModelObjectVisualizer vehicleModelObjectVisualizer = new VehicleModelObjectVisualizer(vehicleFrame, vehicleModelObjects, yoGraphicsListRegistry, registry);
 vehicleModelObjectVisualizer.setVisible(true);
 vehicleModelObjectVisualizer.update();
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 Thread thread = new Thread(scs);
 thread.start();
}

代码示例来源：origin: us.ihmc/IHMCAvatarInterfaces

public static void main(String argv[]) throws FileNotFoundException, JAXBException, MalformedURLException
{
 Robot robot = new Robot("robot");
 SimulationConstructionSet scs = new SimulationConstructionSet(robot);
 
 DRCVehicleSDFLoader drcVehicleSDFLoader = new DRCVehicleSDFLoader();
 scs.addStaticLinkGraphics(drcVehicleSDFLoader.loadDRCVehicle(false));
 RigidBodyTransform vehicleToWorldTransform = new RigidBodyTransform();
 ReferenceFrame vehicleFrame = ReferenceFrame.constructFrameWithUnchangingTransformToParent("vehicle", ReferenceFrame.getWorldFrame(),
    vehicleToWorldTransform, false, true, true);
 VehicleModelObjects vehicleModelObjects = new VehicleModelObjects();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 YoVariableRegistry registry = scs.getRootRegistry();
 VehicleModelObjectVisualizer vehicleModelObjectVisualizer = new VehicleModelObjectVisualizer(vehicleFrame, vehicleModelObjects, yoGraphicsListRegistry, registry);
 vehicleModelObjectVisualizer.setVisible(true);
 vehicleModelObjectVisualizer.update();
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 Thread thread = new Thread(scs);
 thread.start();
}

代码示例来源：origin: us.ihmc/IHMCHumanoidBehaviors

public static PlanarRegionBipedalFootstepPlannerVisualizer createWithSimulationConstructionSet(double dtForViz,
                                               SideDependentList<ConvexPolygon2d> footPolygonsInSoleFrame)
{
 YoVariableRegistry registry = new YoVariableRegistry(PlanarRegionBipedalFootstepPlannerVisualizerFactory.class.getSimpleName());
 YoGraphicsListRegistry graphicsListRegistry = new YoGraphicsListRegistry();
 PlanarRegionBipedalFootstepPlannerVisualizer footstepPlannerVisualizer = new PlanarRegionBipedalFootstepPlannerVisualizer(10, footPolygonsInSoleFrame,
                                                              registry, graphicsListRegistry);
 SimulationConstructionSet scs = new SimulationConstructionSet(new Robot("Test"));
 footstepPlannerVisualizer.setTickAndUpdatable(scs);
 scs.changeBufferSize(32000);
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(graphicsListRegistry);
 scs.setDT(dtForViz, 1);
 scs.setGroundVisible(false);
 scs.startOnAThread();
 return footstepPlannerVisualizer;
}

代码示例来源：origin: us.ihmc/simulation-construction-set-tools

public void createAvailableContactPoints(int groupIdentifier, int totalContactPointsAvailable, double forceVectorScale, boolean addYoGraphicForceVectorsForceVectors)
{
 YoGraphicsListRegistry yoGraphicsListRegistry = null;
 if (addYoGraphicForceVectorsForceVectors) yoGraphicsListRegistry = new YoGraphicsListRegistry();
 for (int i = 0; i < totalContactPointsAvailable; i++)
 {
   GroundContactPoint contactPoint = new GroundContactPoint("contact_" + name + "_" + i, robot.getRobotsYoVariableRegistry());
   getJoint().addGroundContactPoint(groupIdentifier, contactPoint);
   allGroundContactPoints.add(contactPoint);
   YoBoolean contactAvailable = new YoBoolean("contact_" + name + "_" + i + "_avail", robot.getRobotsYoVariableRegistry());
   contactAvailable.set(true);
   contactsAvailable.add(contactAvailable);
   if (addYoGraphicForceVectorsForceVectors)
   {
    YoGraphicPosition yoGraphicPosition = new YoGraphicPosition(name + "Point" + i, contactPoint.getYoPosition(), 0.02, YoAppearance.Green());
    YoGraphicVector yoGraphicVector = new YoGraphicVector(name + "Force" + i, contactPoint.getYoPosition(), contactPoint.getYoForce(), forceVectorScale, YoAppearance.Green());
    yoGraphicsListRegistry.registerYoGraphic(name, yoGraphicPosition);
    yoGraphicsListRegistry.registerYoGraphic(name, yoGraphicVector);
   }
 }
 if (addYoGraphicForceVectorsForceVectors)
 {
   robot.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 }
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private YoGraphicsListRegistry createStartAndGoalGraphics(FramePose3D initialStancePose, FramePose3D goalPose)
{
 YoGraphicsListRegistry graphicsListRegistry = new YoGraphicsListRegistry();
 YoGraphicsList graphicsList = new YoGraphicsList("testViz");
 YoFramePoseUsingYawPitchRoll yoInitialStancePose = new YoFramePoseUsingYawPitchRoll("initialStancePose", initialStancePose.getReferenceFrame(),
                                           drcSimulationTestHelper.getYoVariableRegistry());
 yoInitialStancePose.set(initialStancePose);
 YoFramePoseUsingYawPitchRoll yoGoalPose = new YoFramePoseUsingYawPitchRoll("goalStancePose", goalPose.getReferenceFrame(),
                                       drcSimulationTestHelper.getYoVariableRegistry());
 yoGoalPose.set(goalPose);
 YoGraphicCoordinateSystem startPoseGraphics = new YoGraphicCoordinateSystem("startPose", yoInitialStancePose, 13.0);
 YoGraphicCoordinateSystem goalPoseGraphics = new YoGraphicCoordinateSystem("goalPose", yoGoalPose, 13.0);
 graphicsList.add(startPoseGraphics);
 graphicsList.add(goalPoseGraphics);
 return graphicsListRegistry;
}

代码示例来源：origin: us.ihmc/valkyrie

public ValkyrieSDFLoadingDemo()
{
 ValkyrieRobotModel robotModel = new ValkyrieRobotModel(RobotTarget.SCS, false);
 FloatingRootJointRobot valkyrieRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 valkyrieRobot.setPositionInWorld(new Vector3D());
 if (SHOW_ELLIPSOIDS)
 {
   addIntertialEllipsoidsToVisualizer(valkyrieRobot);
 }
 if (SHOW_COORDINATES_AT_JOINT_ORIGIN)
   addJointAxis(valkyrieRobot);
 FullRobotModel fullRobotModel = robotModel.createFullRobotModel();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 CommonInertiaEllipsoidsVisualizer inertiaVis = new CommonInertiaEllipsoidsVisualizer(fullRobotModel.getElevator(), yoGraphicsListRegistry);
 inertiaVis.update();
 scs = new SimulationConstructionSet(valkyrieRobot);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 scs.setGroundVisible(false);
 scs.startOnAThread();
}

代码示例来源：origin: us.ihmc/ihmc-simulation-toolkit

public FootstepVisualizer(GroundProfile3D groundProfile, Graphics3DObject linkGraphics, int maxNumberOfFootstepsPerSide, int maxContactPointsPerFoot, String description)
{
 nullRobot = new Robot("FootstepVisualizerRobot");
 
 if (groundProfile != null)
 {
   GroundContactModel gcModel = new LinearGroundContactModel(nullRobot, nullRobot.getRobotsYoVariableRegistry());
   gcModel.setGroundProfile3D(groundProfile);
   nullRobot.setGroundContactModel(gcModel);
 }
 
 scs = new SimulationConstructionSet(nullRobot);
 
 if (linkGraphics != null)
 {
   scs.setGroundVisible(false);
   scs.addStaticLinkGraphics(linkGraphics);
 }
 
 printifdebug("Attaching exit listener");
 scs.setDT(1, 1);
 yoGraphicsListRegistry = new YoGraphicsListRegistry();
 bagOfSingleFootstepVisualizers = new BagOfSingleFootstepVisualizers(maxNumberOfFootstepsPerSide, maxContactPointsPerFoot, registry, yoGraphicsListRegistry);
 addText(scs, yoGraphicsListRegistry, description);
}

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

public FootstepVisualizer(GroundProfile3D groundProfile, Graphics3DObject linkGraphics, int maxNumberOfFootstepsPerSide, int maxContactPointsPerFoot, String description)
{
 nullRobot = new Robot("FootstepVisualizerRobot");
 
 if (groundProfile != null)
 {
   GroundContactModel gcModel = new LinearGroundContactModel(nullRobot, nullRobot.getRobotsYoVariableRegistry());
   gcModel.setGroundProfile3D(groundProfile);
   nullRobot.setGroundContactModel(gcModel);
 }
 
 scs = new SimulationConstructionSet(nullRobot);
 
 if (linkGraphics != null)
 {
   scs.setGroundVisible(false);
   scs.addStaticLinkGraphics(linkGraphics);
 }
 
 printifdebug("Attaching exit listener");
 scs.setDT(1, 1);
 yoGraphicsListRegistry = new YoGraphicsListRegistry();
 bagOfSingleFootstepVisualizers = new BagOfSingleFootstepVisualizers(maxNumberOfFootstepsPerSide, maxContactPointsPerFoot, registry, yoGraphicsListRegistry);
 addText(scs, yoGraphicsListRegistry, description);
}

代码示例来源：origin: us.ihmc/ihmc-path-planning-test

public static void showPlotter(WaypointDefinedBodyPathPlanner plan, String testName)
{
 int markers = 5;
 YoVariableRegistry registry = new YoVariableRegistry(testName);
 YoGraphicsListRegistry graphicsList = new YoGraphicsListRegistry();
 for (int i = 0; i < markers; i++)
 {
   double alpha = (double) i / (double) (markers - 1);
   Pose2D pose = new Pose2D();
   plan.getPointAlongPath(alpha, pose);
   YoFramePoint3D yoStartPoint = new YoFramePoint3D("PointStart" + i, worldFrame, registry);
   yoStartPoint.set(pose.getX(), pose.getY(), 0.0);
   double length = 0.1;
   YoFrameVector3D direction = new YoFrameVector3D("Direction" + i, worldFrame, registry);
   direction.set(length * Math.cos(pose.getYaw()), length * Math.sin(pose.getYaw()), 0.0);
   YoFramePoint3D yoEndPoint = new YoFramePoint3D("PointEnd" + i, worldFrame, registry);
   yoEndPoint.set(yoStartPoint);
   yoEndPoint.add(direction);
   YoGraphicPosition poseStartVis = new YoGraphicPosition("PointStart" + i, yoStartPoint, 0.01, YoAppearance.Blue());
   YoGraphicPosition poseEndVis = new YoGraphicPosition("PointEnd" + i, yoEndPoint, 0.01, YoAppearance.Red());
   graphicsList.registerArtifact(testName, poseStartVis.createArtifact());
   graphicsList.registerArtifact(testName, poseEndVis.createArtifact());
 }
 showPlotter(graphicsList, testName);
}

代码示例来源：origin: us.ihmc/robot-environment-awareness-application

public void startSimulation() throws IOException
{
 SimpleLidarRobot robot = new SimpleLidarRobot();
 SimulationConstructionSetParameters parameters = new SimulationConstructionSetParameters(true, RealtimeTools.nextPowerOfTwo(200000));
 SimulationConstructionSet scs = new SimulationConstructionSet(robot, parameters);
 double simDT = 0.0001;
 double controlDT = 0.01;
 scs.setDT(simDT, 10);
 scs.setSimulateDoneCriterion(() -> false);
 Graphics3DAdapter graphics3dAdapter = scs.getGraphics3dAdapter();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 SimpleLidarRobotController controller = new SimpleLidarRobotController(robot, controlDT, ros2Node, graphics3dAdapter,
                                     yoGraphicsListRegistry);
 robot.setController(controller, (int) (controlDT / simDT));
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 createGroundTypeListener(scs);
 scs.setGroundVisible(false);
 scs.startOnAThread();
 scs.simulate();
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private void setupSupportViz()
{
 SimulationConstructionSet scs = drcSimulationTestHelper.getSimulationConstructionSet();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 supportPolygons = new SideDependentList<YoFrameConvexPolygon2D>();
 supportPolygons.set(RobotSide.LEFT, new YoFrameConvexPolygon2D("FootPolygonLeft", "", worldFrame, 4, registry));
 supportPolygons.set(RobotSide.RIGHT, new YoFrameConvexPolygon2D("FootPolygonRight", "", worldFrame, 4, registry));
 footContactsInAnkleFrame = new SideDependentList<ArrayList<Point2D>>();
 footContactsInAnkleFrame.set(RobotSide.LEFT, null);
 footContactsInAnkleFrame.set(RobotSide.RIGHT, null);
 yoGraphicsListRegistry.registerArtifact("SupportLeft", new YoArtifactPolygon("SupportLeft", supportPolygons.get(RobotSide.LEFT), Color.BLACK, false));
 yoGraphicsListRegistry.registerArtifact("SupportRight", new YoArtifactPolygon("SupportRight", supportPolygons.get(RobotSide.RIGHT), Color.BLACK, false));
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 drcSimulationTestHelper.addRobotControllerOnControllerThread(new VizUpdater());
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

private void setupSupportViz()
{
 SimulationConstructionSet scs = drcSimulationTestHelper.getSimulationConstructionSet();
 YoGraphicsListRegistry yoGraphicsListRegistry = new YoGraphicsListRegistry();
 supportPolygons = new SideDependentList<YoFrameConvexPolygon2D>();
 supportPolygons.set(RobotSide.LEFT, new YoFrameConvexPolygon2D("FootPolygonLeft", "", worldFrame, 4, registry));
 supportPolygons.set(RobotSide.RIGHT, new YoFrameConvexPolygon2D("FootPolygonRight", "", worldFrame, 4, registry));
 footContactsInAnkleFrame = new SideDependentList<>();
 footContactsInAnkleFrame.set(RobotSide.LEFT, null);
 footContactsInAnkleFrame.set(RobotSide.RIGHT, null);
 yoGraphicsListRegistry.registerArtifact("SupportLeft", new YoArtifactPolygon("SupportLeft", supportPolygons.get(RobotSide.LEFT), Color.BLACK, false));
 yoGraphicsListRegistry.registerArtifact("SupportRight", new YoArtifactPolygon("SupportRight", supportPolygons.get(RobotSide.RIGHT), Color.BLACK, false));
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 drcSimulationTestHelper.addRobotControllerOnControllerThread(new VizUpdater());
}

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