new_contents: from . import robot_utils
  
  
  class model_config():
      """Configuration of a model"""
      def __init__(self, links, representation="euler", model_type="custom", name="robot"):
          self.links = links
          self.joints_number = len(links)
          self.representation = representation
          self.model_type = model_type
          self.name = name
  
      def __repr__(self):
          return("Configuration of robot : {0}".format(self.name))
  
      def from_urdf_file(urdf_file, base_link="base_link", last_link_vector=None):
          urdf_params = robot_utils.get_urdf_parameters(urdf_file, base_link=base_link, last_link_vector=last_link_vector)
          return model_config(urdf_params, representation="rpy", model_type="URDF")
  
subject: Add model_config class