armJointNames.put(forcedSideJointNames[l_arm_ely], new ImmutablePair<RobotSide, ArmJointName>(robotSide, ELBOW_PITCH));
<BUG>armJointNames.put(forcedSideJointNames[l_arm_elx], new ImmutablePair<RobotSide, ArmJointName>(robotSide, ELBOW_ROLL));
armJointNames.put(forcedSideJointNames[l_arm_wry], new ImmutablePair<RobotSide, ArmJointName>(robotSide, FIRST_WRIST_PITCH));</BUG>
armJointNames.put(forcedSideJointNames[l_arm_wrx], new ImmutablePair<RobotSide, ArmJointName>(robotSide, WRIST_ROLL));
armJointNames.put(forcedSideJointNames[l_arm_wry2], new ImmutablePair<RobotSide, ArmJointName>(robotSide, SECOND_WRIST_PITCH));
<BUG>String prefix = getRobotSidePrefix(robotSide);
limbNames.put(prefix + "hand", new ImmutablePair<RobotSide, LimbName>(robotSide, LimbName.ARM));
limbNames.put(prefix + "foot", new ImmutablePair<RobotSide, LimbName>(robotSide, LimbName.LEG));</BUG>
}
spineJointNames.put(jointNames[back_bkz], SPINE_YAW);

armJointNames.put(forcedSideJointNames[l_arm_ely], new ImmutablePair<RobotSide, ArmJointName>(robotSide, ELBOW_PITCH));
armJointNames.put(forcedSideJointNames[l_arm_elx], new ImmutablePair<RobotSide, ArmJointName>(robotSide, ELBOW_ROLL));
if (atlasVersion != AtlasRobotVersion.ATLAS_UNPLUGGED_V5_NO_FOREARMS)
limbNames.put(prefix + "hand", new ImmutablePair<RobotSide, LimbName>(robotSide, LimbName.ARM));
else
limbNames.put(prefix + "larm", new ImmutablePair<RobotSide, LimbName>(robotSide, LimbName.ARM));
if (atlasVersion == AtlasRobotVersion.ATLAS_UNPLUGGED_V5_NO_FOREARMS)
continue;
armJointNames.put(forcedSideJointNames[l_arm_wry], new ImmutablePair<RobotSide, ArmJointName>(robotSide, FIRST_WRIST_PITCH));
armJointNames.put(forcedSideJointNames[l_arm_wrx], new ImmutablePair<RobotSide, ArmJointName>(robotSide, WRIST_ROLL));
armJointNames.put(forcedSideJointNames[l_arm_wry2], new ImmutablePair<RobotSide, ArmJointName>(robotSide, SECOND_WRIST_PITCH));
}
spineJointNames.put(jointNames[back_bkz], SPINE_YAW);
