diff --git a/python/ros/ros-planche.py b/python/ros/ros-planche.py
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+++ b/python/ros/ros-planche.py
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+#_____________________________________________________________________________________________
+#********************************************************************************************
+#
+#  Robot motion (HRP2 14 small) using:
+#  - ONLY OPERATIONAL TASKS
+#  - Joint limits (position and velocity)
+#_____________________________________________________________________________________________
+#*********************************************************************************************
+
+import sys
+from optparse import OptionParser
+from dynamic_graph import plug
+from dynamic_graph.sot.core import *
+from dynamic_graph.sot.core.math_small_entities import Derivator_of_Matrix
+from dynamic_graph.sot.dynamics import *
+from dynamic_graph.sot.dyninv import *
+import dynamic_graph.script_shortcuts
+from dynamic_graph.script_shortcuts import optionalparentheses
+from dynamic_graph.matlab import matlab
+from dynamic_graph.sot.core.meta_task_6d import toFlags
+from dynamic_graph.sot.dyninv.meta_task_dyn_6d import MetaTaskDyn6d
+from dynamic_graph.sot.dyninv.meta_tasks_dyn import *
+from dynamic_graph.sot.core.utils.attime import attime
+from numpy import *
+from dynamic_graph.sot.dyninv.robot_specific import postureRange
+from dynamic_graph.sot.core.matrix_util import matrixToTuple, vectorToTuple,rotate, matrixToRPY
+from dynamic_graph.sot.core.utils.viewer_helper import addRobotViewer,VisualPinger
+from dynamic_graph.tracer import *
+
+#-----------------------------------------------------------------------------
+# --- ROBOT SIMU -------------------------------------------------------------
+#-----------------------------------------------------------------------------
+
+from dynamic_graph.sot.romeo.romeo import *
+robot = Robot('robot', device=RobotDynSimu('robot'))
+plug(robot.device.state, robot.dynamic.position)
+
+# Export joint_state into ros.
+from dynamic_graph.ros import *
+ros = Ros(robot)
+
+#-------------------------------------------------------------------------------
+#----- MAIN LOOP ---------------------------------------------------------------
+#-------------------------------------------------------------------------------
+dt=5e-3
+from dynamic_graph.sot.core.utils.thread_interruptible_loop import loopInThread,loopShortcuts
+@loopInThread
+def inc():
+    robot.device.increment(dt)
+    attime.run(robot.device.control.time)
+
+runner=inc()
+[go,stop,next,n]=loopShortcuts(runner)
+
+
+#-----------------------------------------------------------------------------
+#---- DYN --------------------------------------------------------------------
+#-----------------------------------------------------------------------------
+
+robot.dynamic.lowerJl.recompute(0)
+robot.dynamic.upperJl.recompute(0)
+llimit = matrix(robot.dynamic.lowerJl.value)
+ulimit = matrix(robot.dynamic.upperJl.value)
+dlimit = ulimit-llimit
+mlimit = (ulimit+llimit)/2
+llimit[6:18] = mlimit[6:12] - dlimit[6:12]*0.48
+robot.dynamic.upperJl.value = vectorToTuple(ulimit)
+
+plug(robot.device.state, robot.dynamic.position)
+plug(robot.device.velocity,robot.dynamic.velocity)
+robot.dynamic.acceleration.value = robot.dimension*(0.,)
+
+robot.dynamic.ffposition.unplug()
+robot.dynamic.ffvelocity.unplug()
+robot.dynamic.ffacceleration.unplug()
+
+robot.dynamic.setProperty('ComputeBackwardDynamics','true')
+robot.dynamic.setProperty('ComputeAccelerationCoM','true')
+
+robot.device.control.unplug()
+
+#-----------------------------------------------------------------------------
+# --- OPERATIONAL TASKS (For HRP2-14)---------------------------------------------
+#-----------------------------------------------------------------------------
+
+# --- Op task for the waist ------------------------------
+taskWaist = MetaTaskDyn6d('taskWaist',robot.dynamic,'waist','waist')
+taskChest = MetaTaskDyn6d('taskChest',robot.dynamic,'chest','chest')
+taskHead = MetaTaskDyn6d('taskHead',robot.dynamic,'head','gaze')
+taskrh = MetaTaskDyn6d('rh',robot.dynamic,'rh','right-wrist')
+tasklh = MetaTaskDyn6d('lh',robot.dynamic,'lh','left-wrist')
+taskrf = MetaTaskDyn6d('rf',robot.dynamic,'rf','right-ankle')
+
+for task in [ taskWaist, taskChest, taskHead, taskrh, tasklh, taskrf ]:
+    task.feature.frame('current')
+    task.gain.setConstant(50)
+    task.task.dt.value = dt
+
+# --- TASK COM ------------------------------------------------------
+taskCom = MetaTaskDynCom(robot.dynamic,dt)
+
+# --- TASK POSTURE --------------------------------------------------
+taskPosture = MetaTaskDynPosture(robot.dynamic,dt)
+
+# --- Task lim ---------------------------------------------------
+taskLim = TaskDynLimits('taskLim')
+plug(robot.dynamic.position,taskLim.position)
+plug(robot.dynamic.velocity,taskLim.velocity)
+taskLim.dt.value = dt
+
+robot.dynamic.upperJl.recompute(0)
+robot.dynamic.lowerJl.recompute(0)
+taskLim.referencePosInf.value = robot.dynamic.lowerJl.value
+taskLim.referencePosSup.value = robot.dynamic.upperJl.value
+
+dqup = (1000,)*robot.dimension
+taskLim.referenceVelInf.value = tuple([-val*pi/180 for val in dqup])
+taskLim.referenceVelSup.value = tuple([val*pi/180 for val in dqup])
+
+#-----------------------------------------------------------------------------
+# --- SOT Dyn OpSpaceH: SOT controller  --------------------------------------
+#-----------------------------------------------------------------------------
+
+sot = SolverDynReduced('sot')
+contact = AddContactHelper(sot)
+
+sot.setSize(robot.dimension-6)
+#sot.damping.value = 1e-2
+sot.breakFactor.value = 10
+
+plug(robot.dynamic.inertiaReal,sot.matrixInertia)
+plug(robot.dynamic.dynamicDrift,sot.dyndrift)
+plug(robot.dynamic.velocity,sot.velocity)
+
+plug(sot.solution, robot.device.control)
+
+#For the integration of q = int(int(qddot)).
+plug(sot.acceleration,robot.device.acceleration)
+
+#-----------------------------------------------------------------------------
+# ---- CONTACT: Contact definition -------------------------------------------
+#-----------------------------------------------------------------------------
+
+# Left foot contact
+contactLF = MetaTaskDyn6d('contact_lleg', robot.dynamic,'lf','left-ankle')
+contactLF.feature.frame('desired')
+contactLF.gain.setConstant(1000)
+contactLF.name = "LF"
+
+# Right foot contact
+contactRF = MetaTaskDyn6d('contact_rleg', robot.dynamic,'rf','right-ankle')
+contactRF.feature.frame('desired')
+contactRF.name = "RF"
+
+contactRF.support = ((0.11,-0.08,-0.08,0.11),(-0.045,-0.045,0.07,0.07),(-0.105,-0.105,-0.105,-0.105))
+contactLF.support = ((0.11,-0.08,-0.08,0.11),(-0.07,-0.07,0.045,0.045),(-0.105,-0.105,-0.105,-0.105))
+contactLF.support = ((0.03,-0.03,-0.03,0.03),(-0.015,-0.015,0.015,0.015),(-0.105,-0.105,-0.105,-0.105))
+
+
+#-----------------------------------------------------------------------------
+# --- RUN --------------------------------------------------------------------
+#-----------------------------------------------------------------------------
+
+DEG = 180.0/pi
+
+# Angles for both knee, plus angle for the chest wrt the world.
+MAX_EXT = 5/DEG
+MAX_SUPPORT_EXT = 25/DEG
+CHEST = 80/DEG # 80 ... 90?
+WITH_FULL_EXTENTION=True
+'''
+MAX_EXT = 5/DEG
+MAX_SUPPORT_EXT = 25/DEG
+CHEST = 70/DEG # 80 ... 90?
+WITH_FULL_EXTENTION=False
+'''
+
+'''
+MAX_EXT = 45/DEG
+MAX_SUPPORT_EXT = 45/DEG
+CHEST = 50/DEG # 80 ... 90?
+WITH_FULL_EXTENTION=False
+'''
+
+sot.clear()
+contact(contactLF)
+contact(contactRF)
+
+taskCom.feature.selec.value = "11"
+taskCom.gain.setByPoint(100,10,0.005,0.8)
+
+taskrf.feature.frame('desired')
+taskrf.gain.setByPoint(40,2,0.002,0.8)
+
+taskChest.feature.selec.value='111000'
+taskChest.ref = rotate('y',CHEST)
+taskChest.gain.setByPoint(30,3,1/DEG,0.8)
+
+taskPosture.gain.setByPoint(30,3,1/DEG,0.8)
+
+ql = matrix(robot.dynamic.lowerJl.value)
+ql[0,15] = MAX_SUPPORT_EXT
+taskLim.referencePosInf.value = vectorToTuple(ql)
+
+#sot.push(taskLim.name)
+plug(robot.device.state,sot.position)
+
+q0 = robot.device.state.value
+rf0 = matrix(taskrf.feature.position.value)[0:3,3]
+
+
+
+MetaTaskDynPosture.postureRange = postureRange['romeo']
+
+# --- Events ---------------------------------------------
+sigset = ( lambda s,v : s.__class__.value.__set__(s,v) )
+refset = ( lambda mt,v : mt.__class__.ref.__set__(mt,v) )
+
+attime(2
+       ,(lambda : sot.push(taskCom.task.name),"Add COM")
+       ,(lambda : refset(taskCom, ( 0.01, 0.09,  0.7 )), "Com to left foot")
+       )
+
+attime(140
+       ,(lambda: sot.rmContact("RF"),"Remove RF contact" )
+       ,(lambda: sot.push(taskrf.task.name), "Add RF")
+       ,(lambda: gotoNd(taskrf, (0,0,0.65),"000110" ), "Up foot RF")
+       )
+
+# Was -.8,0,.8 with full extension
+attime(500,lambda: gotoNd(taskrf, (-0.55,0,0.7),"000101" ), "Extend RF")
+
+attime(800,lambda: sot.push(taskChest.task.name), "add chest")
+
+attime(1000
+       ,(lambda: sot.rm(taskrf.task.name), "rm RF")
+       ,(lambda: sot.push(taskPosture.task.name), "add posture")
+       ,(lambda: taskPosture.gotoq(chest=(0,),rleg=(0,0,0,MAX_EXT,0,0),head=(0,0,0,0)), "extend body")
+       )
+
+if WITH_FULL_EXTENTION:
+    attime(1250
+           ,lambda: taskPosture.gotoq(chest=(0,),rleg=(0,0,0,MAX_EXT,0,0),head=(0,0,0,0),rarm=(0,-pi/2,0,0,0,0,0),larm=(0,pi/2,0,0,0,0,0)), "extend arm")
+
+    attime(2080
+           ,lambda: taskPosture.gotoq(chest=(0,),rleg=(0,0,0,MAX_EXT,0.73,0),head=(0,-pi/4,0,0),rarm=(0,-pi/2,0,0,0,0,0),larm=(0,pi/2,0,0,0,0,0)), "extend foot")
+    tex=1000
+else: tex=0
+
+rangeRL = postureRange['romeo']['rleg']
+qRL0 = q0[min(rangeRL):max(rangeRL)+1]
+rangeRA = postureRange['romeo']['rarm']
+qRA0 = q0[min(rangeRA):max(rangeRA)+1]
+rangeLA = postureRange['romeo']['larm']
+qLA0 = q0[min(rangeLA):max(rangeLA)+1]
+
+attime(1500 + tex
+       ,(lambda: sot.rm(taskChest.task.name),"rm chest")
+       ,(lambda: taskPosture.gotoq((30,3,1/DEG,0.8),chest=(0,),rleg=qRL0,head=(0,0,0,0),rarm=qRA0,larm=qLA0),"fold arms&leg")
+       )
+
+attime(1800+tex
+       ,(lambda: sot.rm(taskPosture.task.name),"Remove posture" )
+       ,(lambda: sot.push(taskrf.task.name), "Add RF")
+       ,(lambda: gotoNd(taskrf, (-0.1,-0.1,0.25),"111" ), "Back RF")
+       )
+
+attime(2200+tex  ,lambda: goto6d(taskrf,vectorToTuple(rf0.T+(0,0,0.07)),(80,15,0.005,0.8))  , "RF to upper ground"       )
+attime(2400+tex  ,lambda: goto6d(taskrf,vectorToTuple(rf0),(100,15,0.005,0.8))  , "RF to ground"       )
+attime(2550+tex  
+       ,(lambda: refset(taskCom,(0.01,0,0.65))  , "COM to zero"       )
+       ,(lambda: taskCom.gain.setConstant(3)  , "lower com gain"       )
+)
+attime(2650+tex, lambda: sigset(sot.posture,q0), "Robot to initial pose")
+attime(2650+tex  ,(lambda: contact(contactRF)  , "RF to contact"       )
+       ,(lambda: sigset(taskCom.feature.selec,"111")  , "COM XYZ"       )
+       ,(lambda: taskCom.gain.setByPoint(100,10,0.005,0.8)  , "upper com gain"       )
+       )
+
+attime(3200+tex,stop)
+
+go()
+
+
+