diff --git a/readme.md b/readme.md
index cb96caf..260a2ab 100644
--- a/readme.md
+++ b/readme.md
@@ -19,20 +19,47 @@ Collection of configuration files for the solo robot.
 
 2. Install bullet_utils:
 
+  If you use ssh to clone the repository.
+
   ```
   git clone git@github.com:machines-in-motion/bullet_utils.git
   cd bullet_utils
   pip3 install .
   ```
 
+  Or if you use https to clone the repository.
+
+  ```
+  git clone https://github.com/machines-in-motion/bullet_utils.git
+  cd bullet_utils
+  pip3 install .
+  ```
+
 3. Install robot_properties_solo:
 
+  If you use ssh to clone the repository.
+
   ```
   git clone git@github.com:open-dynamic-robot-initiative/robot_properties_solo.git
   cd robot_properties_solo
   pip3 install .
   ```
 
+  Or if you use https to clone the repository.
+
+  ```
+  git clone https://github.com/open-dynamic-robot-initiative/robot_properties_solo.git
+  cd bullet_utils
+  pip3 install .
+  ```
+
+4. (Optional) In order to run the demo python files in the `demos/` folder that start with `demo_display_solo*`, please install [gepetto-viewer](https://github.com/Gepetto/gepetto-viewer)
+  It is easier to install it using conda.
+  ```
+  conda install gepetto-viewer gepetto-viewer-corba -c conda-forge
+  ```
+
+
 ### Examples
 
 Below are a few examples. You find more in the `demos/` folder.
diff --git a/src/robot_properties_solo/utils.py b/src/robot_properties_solo/utils.py
new file mode 100644
index 0000000..9b29d13
--- /dev/null
+++ b/src/robot_properties_solo/utils.py
@@ -0,0 +1,102 @@
+try:
+    # use standard Python importlib if available (>Python3.7)
+    import importlib.resources as importlib_resources
+except ImportError:
+    import importlib_resources
+
+import glob
+import sys
+from os import path, walk, mkdir, access, X_OK, environ, pathsep
+import subprocess
+
+from xacro import process_file, open_output
+from xacro.color import warning, error, message
+from xacro.xmlutils import *
+from xacro.cli import process_args
+
+try:  # python 2
+    _basestr = basestring
+    encoding = {"encoding": "utf-8"}
+except NameError:  # python 3
+    _basestr = str
+    unicode = str
+    encoding = {}
+
+
+def find_paths(robot_name, robot_family="solo"):
+    with importlib_resources.path(__package__, "utils.py") as p:
+        package_dir = p.parent.absolute()
+
+    resources_dir = path.join(package_dir, "robot_properties_" + robot_family)
+    dgm_yaml_path = path.join(
+        resources_dir,
+        "dynamic_graph_manager",
+        "dgm_parameters_" + robot_name + ".yaml",
+    )
+    urdf_path = path.join(resources_dir, robot_name + ".urdf")
+    srdf_path = path.join(resources_dir, "srdf", robot_family + ".srdf")
+    ctrl_path = path.join(resources_dir, "impedance_ctrl.yaml")
+
+    if not path.exists(urdf_path):
+        build_xacro_files(resources_dir)
+
+    paths = {
+        "package": str(package_dir),
+        "resources": str(resources_dir),
+        "dgm_yaml": str(dgm_yaml_path),
+        "srdf": str(srdf_path),
+        "urdf": str(urdf_path),
+        "imp_ctrl_yaml": str(ctrl_path),
+    }
+
+    return paths
+
+
+def build_xacro_files(resources_dir):
+    """ Look for the xacro files and build them in the build folder. """
+
+    build_folder = resources_dir
+    xacro_files = []
+    for (root, _, files) in walk(path.join(resources_dir, "xacro")):
+        for afile in files:
+            if afile.endswith(".urdf.xacro"):
+                xacro_files.append(path.join(root, afile))
+
+    if not path.exists(build_folder):
+        mkdir(build_folder)
+
+    for xacro_file in xacro_files:
+        for xacro_file in xacro_files:
+            # Generated file name
+            generated_urdf_path = path.join(
+                build_folder, path.basename(path.splitext(xacro_file)[0])
+            )
+            # Call xacro in bash
+            # bash_command = ["xacro", xacro_file, "-o", generated_urdf_path]
+            # process = subprocess.Popen(bash_command, stdout=subprocess.PIPE)
+            # process.communicate()
+            build_single_xacro_file(xacro_file, generated_urdf_path)
+
+
+def build_single_xacro_file(input_path, output_path):
+    try:
+        # open and process file
+        doc = process_file(input_path)
+        # open the output file
+        out = open_output(output_path)
+
+    except xml.parsers.expat.ExpatError as e:
+        error("XML parsing error: %s" % unicode(e), alt_text=None)
+        sys.exit(2)
+
+    except Exception as e:
+        msg = unicode(e)
+        if not msg:
+            msg = repr(e)
+        error(msg)
+        sys.exit(2)  # gracefully exit with error condition
+
+    # write output
+    out.write(doc.toprettyxml(indent="  ", **encoding))
+    # only close output file, but not stdout
+    out.close()
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