本文整理了Java中us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry.registerYoGraphic()方法的一些代码示例，展示了YoGraphicsListRegistry.registerYoGraphic()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.registerYoGraphic()方法的具体详情如下：
包路径：us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry
类名称：YoGraphicsListRegistry
方法名：registerYoGraphic

YoGraphicsListRegistry.registerYoGraphic介绍

暂无

代码示例

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

/**
* This is where the end-effectors needing a visualization are registered, if you need more, add
* it there.
* 
* @param rigidBodies all the rigid bodies for which the desired and actual pose will be
*           displayed using graphical coordinate systems.
*/
public void setupVisualization(RigidBodyBasics... rigidBodies)
{
 AppearanceDefinition desiredAppearance = YoAppearance.Red();
 AppearanceDefinition currentAppearance = YoAppearance.Blue();
 for (RigidBodyBasics rigidBody : rigidBodies)
 {
   YoGraphicCoordinateSystem desiredCoodinateSystem = createCoodinateSystem(rigidBody, Type.DESIRED, desiredAppearance);
   YoGraphicCoordinateSystem currentCoodinateSystem = createCoodinateSystem(rigidBody, Type.CURRENT, currentAppearance);
   desiredCoodinateSystems.put(rigidBody, desiredCoodinateSystem);
   currentCoodinateSystems.put(rigidBody, currentCoodinateSystem);
   yoGraphicsListRegistry.registerYoGraphic("CoordinateSystems", desiredCoodinateSystem);
   yoGraphicsListRegistry.registerYoGraphic("CoordinateSystems", currentCoodinateSystem);
 }
}

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

public PlanarRegionBaseOfCliffAvoider(YoVariableRegistry parentRegistry, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 parentRegistry.addChild(registry);
 
 if (yoGraphicsListRegistry == null)
 {
   visualize = false;
 }
 if (visualize)
 {
   beforeAdjustmentPosition = new YoGraphicPosition("beforeAdjustmentPosition", "", registry, 0.02, YoAppearance.Red());
   afterAdjustmentPosition = new YoGraphicPosition("afterAdjustmentPosition", "", registry, 0.02, YoAppearance.Green());
   yoGraphicsListRegistry.registerYoGraphic(getClass().getSimpleName(), beforeAdjustmentPosition);
   yoGraphicsListRegistry.registerYoGraphic(getClass().getSimpleName(), afterAdjustmentPosition);
 }
 else
 {
   beforeAdjustmentPosition = null;
   afterAdjustmentPosition = null;
 }
}

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

public CommonHumanoidReferenceFramesVisualizer(CommonHumanoidReferenceFrames referenceFrames, YoGraphicsListRegistry yoGraphicsListRegistry, YoVariableRegistry parentRegistry)
{
 String vizName = referenceFrames.getClass().getSimpleName();
 for (RobotSide robotSide : RobotSide.values)
 {
   YoGraphicReferenceFrame yoGraphic = new YoGraphicReferenceFrame(referenceFrames.getAnkleZUpFrame(robotSide), registry, 0.2);
   yoGraphicsListRegistry.registerYoGraphic(vizName, yoGraphic);
   referenceFramesVisualizers.add(yoGraphic);
 }
 YoGraphicReferenceFrame midFeetFrame = new YoGraphicReferenceFrame(referenceFrames.getMidFeetZUpFrame(), registry, 0.2);
 yoGraphicsListRegistry.registerYoGraphic(vizName, midFeetFrame);
 referenceFramesVisualizers.add(midFeetFrame);
 YoGraphicReferenceFrame comFrame = new YoGraphicReferenceFrame(referenceFrames.getCenterOfMassFrame(), registry, 0.2);
 yoGraphicsListRegistry.registerYoGraphic(vizName, comFrame);
 referenceFramesVisualizers.add(comFrame);
 YoGraphicReferenceFrame pelvisFrame = new YoGraphicReferenceFrame(referenceFrames.getPelvisFrame(), registry, 0.2);
 yoGraphicsListRegistry.registerYoGraphic(vizName, pelvisFrame);
 referenceFramesVisualizers.add(pelvisFrame);
 parentRegistry.addChild(registry);
}

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

public FootstepVisualizer(String name, String graphicListName, RobotSide robotSide, ContactablePlaneBody contactableFoot, AppearanceDefinition footstepColor,
   YoGraphicsListRegistry yoGraphicsListRegistry, YoVariableRegistry registry)
{
 this.robotSide = robotSide;
 yoFootstepPose = new YoFramePose(name + "Pose", worldFrame, registry);
 yoFoothold = new YoFrameConvexPolygon2d(name + "Foothold", "", worldFrame, maxNumberOfContactPoints, registry);
 double coordinateSystemSize = 0.2;
 double footholdScale = 1.0;
 poseViz = new YoGraphicCoordinateSystem(name + "Pose", yoFootstepPose, coordinateSystemSize, footstepColor);
 footholdViz = new YoGraphicPolygon(name + "Foothold", yoFoothold, yoFootstepPose, footholdScale, footstepColor);
 yoGraphicsListRegistry.registerYoGraphic(graphicListName, poseViz);
 yoGraphicsListRegistry.registerYoGraphic(graphicListName, footholdViz);
 List<FramePoint2d> contactPoints2d = contactableFoot.getContactPoints2d();
 for (int i = 0; i < contactPoints2d.size(); i++)
   defaultContactPointsInSoleFrame.add(contactPoints2d.get(i).getPointCopy());
}

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

private void setupNextFootstepVisualization()
{
 nextFootstepPoses = new ArrayList<>();
 for (int i = 0; i < numberOfFootstepsToConsider; i++)
 {
   Graphics3DObject nextFootstepGraphic = new Graphics3DObject();
   nextFootstepGraphic.addExtrudedPolygon(contactPointsInFootFrame, footstepHeight, nextFootstepColor);
   YoFramePoseUsingYawPitchRoll nextFootstepPose = new YoFramePoseUsingYawPitchRoll("NextFootstep" + i + "Pose", worldFrame, registry);
   nextFootstepPoses.add(nextFootstepPose);
   graphicsListRegistry
      .registerYoGraphic("UpcomingFootsteps", new YoGraphicShape("NextFootstep" + i + "Viz", nextFootstepGraphic, nextFootstepPose, 1.0));
 }
}

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

private void createGraphicsAndArtifacts(YoGraphicsListRegistry yoGraphicsListRegistry)
{
 yoGraphicsListRegistry.registerYoGraphic("Frames", leftMidZUpFrameViz);
 yoGraphicsListRegistry.registerYoGraphic("Frames", rightMidZUpFrameViz);
 yoGraphicsListRegistry.registerYoGraphic("target", targetViz);
 yoGraphicsListRegistry.registerArtifact("target", targetViz.createArtifact());
 yoGraphicsListRegistry.registerArtifact("centroidViz", centroidViz.createArtifact());
 yoGraphicsListRegistry.registerYoGraphic("nominalYaw", nominalYawGraphic);
 YoArtifactPolygon supportPolygonArtifact = new YoArtifactPolygon("quadSupportPolygonArtifact", supportPolygon, Color.blue, false);
 YoArtifactPolygon currentTriplePolygonArtifact = new YoArtifactPolygon("currentTriplePolygonArtifact", currentTriplePolygon, Color.GREEN, false);
 yoGraphicsListRegistry.registerArtifact("nominalYawArtifact", nominalYawArtifact);
 yoGraphicsListRegistry.registerArtifact("supportPolygon", supportPolygonArtifact);
 yoGraphicsListRegistry.registerArtifact("currentTriplePolygon", currentTriplePolygonArtifact);
 yoGraphicsListRegistry.setYoGraphicsUpdatedRemotely(true);
}

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

public ContactPointVisualizer(ArrayList<? extends PlaneContactState> contactStates, YoGraphicsListRegistry yoGraphicsListRegistry,
   YoVariableRegistry parentRegistry)
{
 this.contactStates = contactStates;
 int totalNumberOfContactPoints = 0;
 for (int i = 0; i < contactStates.size(); i++)
   totalNumberOfContactPoints += contactStates.get(i).getTotalNumberOfContactPoints();
 maxNumberOfDynamicGraphicPositions = totalNumberOfContactPoints;
 for (int i = 0; i < maxNumberOfDynamicGraphicPositions; i++)
 {
   YoFramePoint contactPointWorld = new YoFramePoint("contactPoint" + i, worldFrame, this.registry);
   contactPointsWorld.add(contactPointWorld);
   YoGraphicPosition dynamicGraphicPosition = new YoGraphicPosition("contactViz" + i, contactPointWorld, 0.01, YoAppearance.Crimson());
   dynamicGraphicPositions.add(dynamicGraphicPosition);
   yoGraphicsListRegistry.registerYoGraphic("contactPoints", dynamicGraphicPosition);
   YoFrameVector normalVector = new YoFrameVector("contactNormal" + i, worldFrame, registry);
   normalVectors.add(normalVector);
   YoGraphicVector dynamicGraphicVector = new YoGraphicVector("contactNormalViz" + i, contactPointWorld, normalVector, YoAppearance.Crimson());
   dynamicGraphicVectors.add(dynamicGraphicVector);
   yoGraphicsListRegistry.registerYoGraphic("contactPoints", dynamicGraphicVector);
 }
 parentRegistry.addChild(registry);
}

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

private void createCandidateFootstep(String name, int index, YoVariableRegistry registry, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 YoFramePoseUsingYawPitchRoll footstepYoFramePose = new YoFramePoseUsingYawPitchRoll(name + index + "FramePose", ReferenceFrame.getWorldFrame(), registry);
 footstepYoFramePose.setToNaN();
 YoGraphicPolygon footstepYoGraphicPolygon = new YoGraphicPolygon(name + index + "YoGraphicPolygon", footstepYoFramePose,
                                  defaultFootPolygon.getNumberOfVertices(), registry, 1.0, YoAppearance.Red());
 footstepYoGraphicPolygon.updateConvexPolygon2d(defaultFootPolygon);
 candidateFootstepPolygons.put(index, footstepYoGraphicPolygon);
 yoGraphicsListRegistry.registerYoGraphic(getClass().getSimpleName(), footstepYoGraphicPolygon);
}

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

private YoGraphicPolygon createStaticFootstep(String name, FramePose3D framePose, AppearanceDefinition appearance, YoVariableRegistry registry,
                       YoGraphicsListRegistry yoGraphicsListRegistry)
{
 YoFramePoseUsingYawPitchRoll footstepYoFramePose = new YoFramePoseUsingYawPitchRoll(name + "FramePose", ReferenceFrame.getWorldFrame(), registry);
 footstepYoFramePose.set(framePose);
 YoGraphicPolygon footstepYoGraphicPolygon = new YoGraphicPolygon(name + "YoGraphicPolygon", footstepYoFramePose, defaultFootPolygon.getNumberOfVertices(),
                                  registry, 1.0, appearance);
 footstepYoGraphicPolygon.updateConvexPolygon2d(defaultFootPolygon);
 yoGraphicsListRegistry.registerYoGraphic(getClass().getSimpleName(), footstepYoGraphicPolygon);
 return footstepYoGraphicPolygon;
}

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

private void populateDynamicsGraphicObjects(YoGraphicsListRegistry yoGraphicsListRegistry)
{
 perturbanceApplicationPoint = new YoFramePoint3D("perturbanceApplicationPoint", "", ReferenceFrame.getWorldFrame(), registry);
 
 YoGraphicVector perturbanceVisual = new YoGraphicVector("perturbanceVisual" + name, perturbanceApplicationPoint, perturbanceForce, 0.005, YoAppearance.BlackMetalMaterial());
 yoGraphicsListRegistry.registerYoGraphic(name, perturbanceVisual);
}

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

public void addYoGraphicForceVectorsToGroundContactPoints(int groupIdentifier, double forceVectorScale, AppearanceDefinition appearance, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 if (yoGraphicsListRegistry == null) return;
 
 GroundContactPointGroup groundContactPointGroup = pinJoint.getGroundContactPointGroup(groupIdentifier);
 System.out.println("GroundContactPointGroup" + groundContactPointGroup.getGroundContactPoints());
 ArrayList<GroundContactPoint> groundContactPoints = groundContactPointGroup.getGroundContactPoints();
 
 for (GroundContactPoint groundContactPoint : groundContactPoints)
 {
   YoGraphicVector yoGraphicVector = new YoGraphicVector(groundContactPoint.getName(), groundContactPoint.getYoPosition(), groundContactPoint.getYoForce(), forceVectorScale, appearance);
   yoGraphicsListRegistry.registerYoGraphic("ContactableToroidRobot", yoGraphicVector);
 }
}

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

public void addYoGraphicForceVectorsToGroundContactPoints(int groupIdentifier, double forceVectorScale, AppearanceDefinition appearance, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 if (yoGraphicsListRegistry == null) return;
 
 GroundContactPointGroup groundContactPointGroup = nullJoint.getGroundContactPointGroup(groupIdentifier);
 System.out.println("GroundContactPointGroup" + groundContactPointGroup.getGroundContactPoints());
 ArrayList<GroundContactPoint> groundContactPoints = groundContactPointGroup.getGroundContactPoints();
 
 for (GroundContactPoint groundContactPoint : groundContactPoints)
 {
   YoGraphicVector yoGraphicVector = new YoGraphicVector(groundContactPoint.getName(), groundContactPoint.getYoPosition(), groundContactPoint.getYoForce(), forceVectorScale, appearance);
   yoGraphicsListRegistry.registerYoGraphic("ContactableToroidRobot", yoGraphicVector);
 }
}

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

public void addYoGraphicForceVectorsToGroundContactPoints(int groupIdentifier, double forceVectorScale, AppearanceDefinition appearance,
    YoGraphicsListRegistry yoGraphicsListRegistry)
{
 if (yoGraphicsListRegistry == null)
   return;
 GroundContactPointGroup groundContactPointGroup = floatingJoint.getGroundContactPointGroup(groupIdentifier);
 System.out.println("GroundContactPointGroup" + groundContactPointGroup.getGroundContactPoints());
 ArrayList<GroundContactPoint> groundContactPoints = groundContactPointGroup.getGroundContactPoints();
 for (GroundContactPoint groundContactPoint : groundContactPoints)
 {
   YoGraphicVector yoGraphicVector = new YoGraphicVector(groundContactPoint.getName(), groundContactPoint.getYoPosition(),
                        groundContactPoint.getYoForce(), forceVectorScale, appearance);
   yoGraphicsListRegistry.registerYoGraphic("ContactableToroidRobot", yoGraphicVector);
 }
}

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

public MomentumVisualizer(String name, TwistCalculator twistCalculator, YoVariableRegistry registry, YoGraphicsListRegistry graphicsRegistry,
   RigidBody... rigidBodies)
{
 comCalculator = new CenterOfMassCalculator(rigidBodies, ReferenceFrame.getWorldFrame());
 momentumCalculator = new MomentumCalculator(twistCalculator, rigidBodies);
 centerOfMass = new YoFramePoint(name + "CoM", ReferenceFrame.getWorldFrame(), registry);
 linearMomentum = new YoFrameVector(name + "Momentum", ReferenceFrame.getWorldFrame(), registry);
 YoGraphicPosition yoCoMGraphics = new YoGraphicPosition(name + "CoM", centerOfMass, 0.05, YoAppearance.Brown());
 YoGraphicVector yoMomentumGraphics = new YoGraphicVector(name + "Momentum", centerOfMass, linearMomentum, 0.05, YoAppearance.Brown());
 graphicsRegistry.registerYoGraphic(name, yoCoMGraphics);
 graphicsRegistry.registerYoGraphic(name, yoMomentumGraphics);
}

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

public void addYoGraphicForceVectorsToGroundContactPoints(int groupIdentifier, double forceVectorScale, AppearanceDefinition appearance,
                             YoGraphicsListRegistry yoGraphicsListRegistry)
{
 if (yoGraphicsListRegistry == null)
   return;
 GroundContactPointGroup groundContactPointGroup = floatingJoint.getGroundContactPointGroup(groupIdentifier);
 ArrayList<GroundContactPoint> groundContactPoints = groundContactPointGroup.getGroundContactPoints();
 for (GroundContactPoint groundContactPoint : groundContactPoints)
 {
   YoGraphicVector yoGraphicVector = new YoGraphicVector(groundContactPoint.getName(), groundContactPoint.getYoPosition(),
                              groundContactPoint.getYoForce(), forceVectorScale, appearance);
   yoGraphicsListRegistry.registerYoGraphic("ContactableSelectableBoxRobot", yoGraphicVector);
 }
}

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

public LineTrajectory(double controlDT, Tuple3DReadOnly initialPosition, YoVariableRegistry parentRegistry, YoGraphicsListRegistry graphicsListRegistry)
{
 this.controlDT = controlDT;
 Vector3D initialPositionA = new Vector3D(initialPosition);
 Vector3D initialPositionB = new Vector3D(initialPosition);
 initialPositionA.addX(0.025);
 initialPositionB.addX(-0.025);
 pointA = new ParameterVector3D("PointA", initialPositionA, registry);
 pointB = new ParameterVector3D("PointB", initialPositionB, registry);
 frequency = new DoubleParameter("Frequency", registry, 0.25);
 maxVelocity = new DoubleParameter("MaxVelocity", registry, 0.1);
 limitedPointA = new RateLimitedYoFramePoint("PointALim", "", registry, maxVelocity, controlDT, createFrameTuple(ReferenceFrame.getWorldFrame(), pointA));
 limitedPointB = new RateLimitedYoFramePoint("PointBLim", "", registry, maxVelocity, controlDT, createFrameTuple(ReferenceFrame.getWorldFrame(), pointB));
 pointAViz = new YoGraphicPosition("PointAViz", limitedPointA, 0.025, YoAppearance.Blue());
 pointBViz = new YoGraphicPosition("PointBViz", limitedPointB, 0.025, YoAppearance.Blue());
 graphicsListRegistry.registerYoGraphic(getClass().getSimpleName(), pointAViz);
 graphicsListRegistry.registerYoGraphic(getClass().getSimpleName(), pointBViz);
 parentRegistry.addChild(registry);
}

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

public static void addGoalViz(FramePose3D goalPose, YoVariableRegistry registry, YoGraphicsListRegistry graphicsListRegistry)
  {
   YoFramePoint3D yoGoal = new YoFramePoint3D("GoalPosition", worldFrame, registry);
   yoGoal.set(goalPose.getPosition());
   graphicsListRegistry.registerYoGraphic("viz", new YoGraphicPosition("GoalViz", yoGoal, 0.05, YoAppearance.Yellow()));
   YoFramePoint3D yoStart = new YoFramePoint3D("StartPosition", worldFrame, registry);
   graphicsListRegistry.registerYoGraphic("viz", new YoGraphicPosition("StartViz", yoStart, 0.05, YoAppearance.Blue()));
   PoseReferenceFrame goalFrame = new PoseReferenceFrame("GoalFrame", goalPose);
   FrameVector3D goalOrientation = new FrameVector3D(goalFrame, 0.5, 0.0, 0.0);
   goalOrientation.changeFrame(worldFrame);
   YoFrameVector3D yoGoalOrientation = new YoFrameVector3D("GoalVector", worldFrame, registry);
   yoGoalOrientation.set(goalOrientation);
//      graphicsListRegistry.registerYoGraphic("vizOrientation", new YoGraphicVector("GoalOrientationViz", yoGoal, yoGoalOrientation, 1.0, YoAppearance.White()));
  }

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

private void setupPositionGraphics()
{
 YoFramePoint3D yoCoMPosition = new YoFramePoint3D("CoMPositionForViz", worldFrame, registry);
 comPositionGraphic = new YoGraphicPosition("CoMPositionGraphic", yoCoMPosition, trackBallSize * 2, new YoAppearanceRGBColor(comPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 YoFramePoint3D yoICPPosition = new YoFramePoint3D("ICPPositionForViz", worldFrame, registry);
 icpPositionGraphic = new YoGraphicPosition("ICPPositionGraphic", yoICPPosition, trackBallSize * 2, new YoAppearanceRGBColor(icpPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 YoFramePoint3D yoCMPPosition = new YoFramePoint3D("CMPPositionForViz", worldFrame, registry);
 cmpPositionGraphic = new YoGraphicPosition("CMPPositionGraphic", yoCMPPosition, trackBallSize * 2, new YoAppearanceRGBColor(cmpPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 YoFramePoint3D yoCoPPosition = new YoFramePoint3D("CoPPositionForViz", worldFrame, registry);
 copPositionGraphic = new YoGraphicPosition("CoPPositionGraphic", yoCoPPosition, trackBallSize * 2, new YoAppearanceRGBColor(copPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 graphicsListRegistry.registerYoGraphic("GraphicPositions", comPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", comPositionGraphic.createArtifact());
 graphicsListRegistry.registerYoGraphic("GraphicPositions", icpPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", icpPositionGraphic.createArtifact());
 graphicsListRegistry.registerYoGraphic("GraphicPositions", cmpPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", cmpPositionGraphic.createArtifact());
 graphicsListRegistry.registerYoGraphic("GraphicPositions", copPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", copPositionGraphic.createArtifact());
}

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

private void createPushRobotController()
{
 if (usePushRobotController.get())
 {
   PushRobotController bodyPushRobotController = new PushRobotController(sdfRobot.get(), "body", new Vector3d(0.0, -0.00057633, 0.0383928));
   yoGraphicsListRegistry.registerYoGraphic("PushRobotControllers", bodyPushRobotController.getForceVisualizer());
   for (QuadrupedJointName quadrupedJointName : modelFactory.get().getQuadrupedJointNames())
   {
    String jointName = modelFactory.get().getSDFNameForJointName(quadrupedJointName);
    PushRobotController jointPushRobotController = new PushRobotController(sdfRobot.get(), jointName, new Vector3d(0.0, 0.0, 0.0));
    yoGraphicsListRegistry.registerYoGraphic("PushRobotControllers", jointPushRobotController.getForceVisualizer());
   }
 }
}

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

private void setupCurrentFootPoseVisualization()
{
 currentFootLocations = new SideDependentList<>();
 for (RobotSide side : RobotSide.values())
 {
   Graphics3DObject footstepGraphic = new Graphics3DObject();
   footstepGraphic.addExtrudedPolygon(contactPointsInFootFrame, footstepHeight, side == RobotSide.LEFT ? leftFootstepColor : rightFootstepColor);
   YoFramePoseUsingYawPitchRoll footPose = new YoFramePoseUsingYawPitchRoll(side.getCamelCaseName() + "FootPose", worldFrame, registry);
   currentFootLocations.put(side, footPose);
   graphicsListRegistry.registerYoGraphic("currentFootPose", new YoGraphicShape(side.getCamelCaseName() + "FootViz", footstepGraphic, footPose, 1.0));
 }
}