rewrite footprint frame update

[raymondwjang]

🔍 Type of Change

🧪 Improvement: Enhancements or optimizations to existing code

📝 Description

🧪 Testing

• Ran unit tests
• Ran integration tests
• Performed manual testing
• Updated existing tests

🛠️ Dependencies

✅ Checklist

• My code follows the project's style guidelines
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• New and existing unit tests pass locally with my changes

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📚 Documentation preview 📚: https://cala--122.org.readthedocs.build/en/122/