diff --git a/src/hpp/corbaserver/rbprm/rbprmfullbody.py b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
index de735d87a3de8d468ebf964114e936090e3faedf..67e524f044edd77f5da051764a2290e498d066b0 100755
--- a/src/hpp/corbaserver/rbprm/rbprmfullbody.py
+++ b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
@@ -842,3 +842,12 @@ class FullBody (object):
     def getJacobianCenterOfMass (self):
         return self.client.basic.robot.getJacobianCenterOfMass ()
     ##\}
+
+    ## Get the dimension of the extra configuration space
+    def getDimensionExtraConfigSpace(self):
+        return self.client.basic.robot.getDimensionExtraConfigSpace()
+
+    ## Convert a direction vector to a quaternion (use Eigen::Quaterniond::FromTwoVectors with Z vector)
+    # \param u the vector director
+    def quaternionFromVector(self,vector):
+        return self.client.basic.robot.quaternionFromVector(vector)