}
@Override
public List<ImmutablePair<String, Vector3D>> getJointNameGroundContactPointMap()
{
return contactPointParameters.getJointNameGroundContactPointMap();
<BUG>}
@Override public List<ImmutablePair<String, YoPDGains>> getPassiveJointNameWithGains(YoVariableRegistry registry)
{</BUG>
return null;
}

}
jointNamesBeforeFeet[0] = getJointBeforeFootName(RobotSide.LEFT);
jointNamesBeforeFeet[1] = getJointBeforeFootName(RobotSide.RIGHT);
}
