diff --git a/src/core/RobotModel.cpp b/src/core/RobotModel.cpp
index 0e9faffa..9596ca7f 100644
--- a/src/core/RobotModel.cpp
+++ b/src/core/RobotModel.cpp
@@ -21,7 +21,6 @@ void RobotModel::clear(){
     joint_names.clear();
     actuated_joint_names.clear();
     joint_names_floating_base.clear();
-    contact_points.clear();
     base_frame="";
     world_frame="";
     gravity = base::Vector3d(0,0,-9.81);
diff --git a/src/core/RobotModel.hpp b/src/core/RobotModel.hpp
index 51ef2c27..d7aaaa15 100644
--- a/src/core/RobotModel.hpp
+++ b/src/core/RobotModel.hpp
@@ -26,7 +26,6 @@ class RobotModel{
     /** ID of kinematic chain given root and tip*/
     const std::string chainID(const std::string& root, const std::string& tip){return root + "_" + tip;}
 
-    std::vector<std::string> contact_points;
     ActiveContacts active_contacts;
     base::Vector3d gravity;
     base::samples::RigidBodyStateSE3 floating_base_state;
diff --git a/src/robot_models/hyrodyn/RobotModelHyrodyn.cpp b/src/robot_models/hyrodyn/RobotModelHyrodyn.cpp
index 7ed68466..f6364b84 100644
--- a/src/robot_models/hyrodyn/RobotModelHyrodyn.cpp
+++ b/src/robot_models/hyrodyn/RobotModelHyrodyn.cpp
@@ -417,13 +417,13 @@ void RobotModelHyrodyn::computeInverseDynamics(base::commands::Joints &solver_ou
     }
     hyrodyn.calculate_forward_system_state();
 
-    uint nc = contact_points.size();
+    uint nc = robot_model_config.contact_points.size();
     hyrodyn.wrench_interaction.resize(nc);
-    hyrodyn.wrench_points = contact_points;
+    hyrodyn.wrench_points = robot_model_config.contact_points.names;
     hyrodyn.wrench_resolution.resize(nc);
     hyrodyn.f_ext.resize(nc);
     for(uint i = 0; i < nc; i++){
-        const std::string &name = contact_points[i];
+        const std::string &name = hyrodyn.wrench_points[i];
         hyrodyn.wrench_interaction[i] = true; // Resistive
         hyrodyn.wrench_resolution[i] = true; // body coordinates
         try{
diff --git a/src/robot_models/kdl/RobotModelKDL.cpp b/src/robot_models/kdl/RobotModelKDL.cpp
index 5e544724..7bfeac78 100644
--- a/src/robot_models/kdl/RobotModelKDL.cpp
+++ b/src/robot_models/kdl/RobotModelKDL.cpp
@@ -84,7 +84,6 @@ bool RobotModelKDL::configure(const RobotModelConfig& cfg){
     tau.resize(noOfJoints());
     zero.resize(noOfJoints());
     zero.data.setZero();
-    contact_points = cfg.contact_points.names;
     active_contacts = cfg.contact_points;
     joint_space_inertia_mat.resize(noOfJoints(), noOfJoints());
     bias_forces.resize(noOfJoints());
diff --git a/src/robot_models/pinocchio/RobotModelPinocchio.cpp b/src/robot_models/pinocchio/RobotModelPinocchio.cpp
index 296ae67c..3ce2b646 100644
--- a/src/robot_models/pinocchio/RobotModelPinocchio.cpp
+++ b/src/robot_models/pinocchio/RobotModelPinocchio.cpp
@@ -108,7 +108,6 @@ bool RobotModelPinocchio::configure(const RobotModelConfig& cfg){
     for(uint i = 0; i < actuated_joint_names.size(); i++)
         selection_matrix(i, jointIndex(actuated_joint_names[i])) = 1.0;
 
-    contact_points = cfg.contact_points.names;
     active_contacts = cfg.contact_points;
 
     LOG_DEBUG("------------------- WBC RobotModelPinocchio -----------------");
diff --git a/src/robot_models/rbdl/RobotModelRBDL.cpp b/src/robot_models/rbdl/RobotModelRBDL.cpp
index 9cc4fe7d..f9d1bc5a 100644
--- a/src/robot_models/rbdl/RobotModelRBDL.cpp
+++ b/src/robot_models/rbdl/RobotModelRBDL.cpp
@@ -99,7 +99,6 @@ bool RobotModelRBDL::configure(const RobotModelConfig& cfg){
     for(int i = 0; i < actuated_joint_names.size(); i++)
         selection_matrix(i, jointIndex(actuated_joint_names[i])) = 1.0;
 
-    contact_points = cfg.contact_points.names;
     active_contacts = cfg.contact_points;
 
     LOG_DEBUG("------------------- WBC RobotModelRBDL -----------------");