auto problem = getProblemAtLevel(0);
solution_found_ = problem->solve();
static bool print_warning = true;
if(solution_found_ && isProblemDry(problem) && print_warning)
print_warning = false;
LOG_WARNING << "\n\n"
<<" Solution found but the problem is dry !\n"
<< "It means that an optimal solution is found but the problem \n"
<< "only has one task computing anything, ans it's the"
<< "GlobalRegularisation task (This will only be printed once)\n\n"
<< "/!\\ Resulting torques will cause the robot to fall /!\\";