text: try:
      from solo_rbprm.solo import Robot
  except ImportError:
      message = "ERROR: Cannot import solo-rbprm package.\n"
      message += "Did you correctly installed it?\n"
      message +="https://github.com/humanoid-path-planner/solo-rbprm"
      raise ImportError(message)
  MASS = 2.5  # cannot retrieve it from urdf because the file is not parsed here ...
  MU = 0.9
  ## weight and gains used by TSID
  IK_dt = 0.002
  fMin = 1.0  # minimum normal force
  fMax = 25.  # maximum normal force
  w_com = 1.0  # weight of center of mass task
  w_am =  0.
  w_am_track = 0. # weight used for the tracking of the Angular momentum
  w_posture = 0.1  # weight of joint posture task
  w_rootOrientation = 0.1  # weight of the root's orientation task
  w_eff = 1.0  # weight of the effector motion task
  kp_contact = 50.0  # proportional gain of contact constraint
  kp_com = 100.  # proportional gain of center of mass task
  kp_am = 20.
  kp_am_track = 20. # gain used for the tracking of the Angular momentum
  kp_posture = 10.  # proportional gain of joint posture task
  kp_rootOrientation = 50.  # proportional gain of the root's orientation task
  kp_Eff = 10.  # proportional gain of the effectors motion task
  level_eff = 1
  level_com = 1
  level_posture = 1
  level_rootOrientation = 1
  level_am = 1
  
  # scaling and weight for the bounds tasks in TSID:
  w_torque_bounds = 1.
  w_joint_bounds = 0.
  scaling_torque_bounds = 1.5
  scaling_vel_bounds = 1.
  
  # The weight of the force regularization task of each contact will start at w_forceRef_init when creating a new contact,
  # and then linearly reduce to w_forceRef_end over a time period of phase_duration * w_forceRef_time_ratio
  w_forceRef_init = 10.
  w_forceRef_end = 1e-3
  w_forceRef_time_ratio = 1.
  
  YAW_ROT_GAIN = 1.
  
  IK_eff_size = Robot.dict_size.copy()
  PLOT_CIRCLE_RADIUS = 0.01 # radius of the circle used to display the contacts
  SOLVER_DT = 0.01  # time step used for centroidal methods
  
  # phases duration
  DURATION_INIT = 1.  # Time to init the motion
  DURATION_FINAL = 1.  # Time to stop the robot
  DURATION_FINAL_SS = 1.
  DURATION_SS = 1.2
  DURATION_DS = 1.2
  DURATION_TS = 0.4
  DURATION_QS = 0.1
  DURATION_CONNECT_GOAL = 0.
  
  ## Settings for end effectors :
  EFF_T_DELAY = 0.
  FEET_MAX_VEL = 0.7
  FEET_MAX_ANG_VEL = 1.5
  p_max = 0.05
  EFF_T_PREDEF = 0.
  
  
  GUIDE_STEP_SIZE = 0.5
  SL1M_USE_MIP = True
  SL1M_USE_INTERSECTION = False
  SL1M_MAX_STEP = 6
  
  import numpy as np
  gain_vector = np.ones(12)
  masks_posture = np.zeros(12)
  
  
  IK_REFERENCE_CONFIG = np.array(Robot.referenceConfig)
  
  # for solo 8 : set a velocity bound to 0 for shoulder roll joint:
  scaling_vel_bounds = np.ones(12)
  
  for i in range(4):
      masks_posture[i * 3] = 1.  # shoulder roll
      scaling_vel_bounds[i * 3] = 0.
      #gain_vector[i * 3] = 1.
  
  