def METHOD_NAME():
    dt = timedelta(milliseconds=10)
    horizon = timedelta(seconds=20)
    detector = blf.contacts.FixedFootDetector()
    parameters_handler = blf.parameters_handler.StdParametersHandler()
    parameters_handler.set_parameter_datetime("sampling_time", dt)
    assert (detector.initialize(parameters_handler))
    phase_list = create_contact_list()
    detector.set_contact_phase_list(phase_list)
    for current_time in time_generator(timedelta(seconds=0), horizon, dt):
        assert(detector.advance())
        assert(detector.is_output_valid())
        output = detector.get_output()
        state = get_fixed_foot_state(current_time, phase_list.lists())
        assert(output["left_foot"].is_active == state.left_foot.is_active)
        assert(output["right_foot"].is_active == state.right_foot.is_active)
        if state.left_foot.is_active:
            assert(output["left_foot"].pose == state.left_foot.pose)
        elif state.right_foot.is_active:
            assert(output["right_foot"].pose == state.right_foot.pose)
        else:
            assert(False) # This should never happen