text: TIMEOPT_CONFIG_FILE = "cfg_softConstraints_hrp2.yaml"
  TIMEOPT_CONFIG_FILE = "cfg_softConstraints_hrp2_eff85.yaml"
  
  from common_hrp2 import *
  SCRIPT_PATH = "sandbox"
  ENV_NAME = "multicontact/ground"
  
  DURATION_INIT = 1. # Time to init the motion
  DURATION_FINAL = 1.5 # Time to stop the robot
  DURATION_FINAL_SS = 1.
  DURATION_SS =1.4
  DURATION_DS = 0.3
  DURATION_TS = 0.4
  
  COM_SHIFT_Z = 0.
  TIME_SHIFT_COM = 0.
  
  ## Settings for end effectors : 
  EFF_T_PREDEF = 0.3
  p_max = 0.1