text: import mlp.config as cfg
  from rospkg import RosPack
  from mlp.utils import wholebody_result
  import pinocchio as pin
  
  def generateWholeBodyMotion(cs,fullBody=None,viewer=None):
      rp = RosPack()
      urdf = rp.get_path(cfg.Robot.packageName)+'/urdf/'+cfg.Robot.urdfName+cfg.Robot.urdfSuffix+'.urdf'
      if cfg.WB_VERBOSE:
          print "load robot : " ,urdf 
      robot  = pin.RobotWrapper.BuildFromURDF(urdf, pin.StdVec_StdString(), pin.JointModelFreeFlyer(), False)        
      if cfg.WB_VERBOSE:
          print "robot loaded."
      filename = cfg.EXPORT_PATH+"/npz/"+cfg.DEMO_NAME+".npz"
      print "Load npz file : ",filename
      res = wholebody_result.loadFromNPZ(filename)
      return res,robot
      