def METHOD_NAME():
    contact_list_left_foot = blf.contacts.ContactList()
    contact = blf.contacts.PlannedContact()
    leftPosition = np.zeros(3)
    quaternion = [0.0, 0.0, 0.0, 1.0]
    contact.pose = manif.SE3(position=leftPosition, quaternion=quaternion)
    contact.activation_time = timedelta(seconds=0.0)
    contact.deactivation_time = timedelta(seconds=1.0)
    contact.name = "contactLeft1"
    contact_list_left_foot.add_contact(contact)
    contact.activation_time = timedelta(seconds=2.0)
    contact.deactivation_time = timedelta(seconds=4.0)
    contact_list_left_foot.add_contact(contact)
    # Right Foot
    contact_list_right_foot = blf.contacts.ContactList()
    contact = blf.contacts.PlannedContact()
    rightPosition = np.zeros(3)
    contact.pose = manif.SE3(position = rightPosition, quaternion = quaternion)
    contact.activation_time = timedelta(seconds=0.0)
    contact.deactivation_time = timedelta(seconds=3.0)
    contact.name = "contactRight1"
    contact_list_right_foot.add_contact(contact)
    contact.activation_time = timedelta(seconds=4.0)
    contact.deactivation_time = timedelta(seconds=6.0)
    contact_list_right_foot.add_contact(contact)
    contact_list_map ={}
    contact_list_map.update({"left_foot":contact_list_left_foot})
    contact_list_map.update({"right_foot":contact_list_right_foot})
    contact_phase_list = blf.contacts.ContactPhaseList()
    contact_phase_list.set_lists(contact_list_map)
    c_1 = contact_phase_list.get_present_phase(timedelta(seconds=50.0))
    c_2 = contact_phase_list.last_phase()
    assert c_1 == c_2
    c_3 = contact_phase_list.get_present_phase(timedelta(seconds=0.5))
    c_4 = contact_phase_list.first_phase()
    assert (c_3 == c_4)
    assert contact_phase_list.size() == 5
    i = 0
    for item in contact_phase_list:
        i  = i + 1
        if(i == 1):
            assert item == contact_phase_list.first_phase()
        if( i == contact_phase_list.size()):
            assert item == contact_phase_list.last_phase()