  Motion::Motion m;
  Motion::MotionCommand cmd;


//   double angles[NumPIDJoints];
//   int *err;
//   int i;
//   int s;

//   make_walk_param();
//   make_getups();
//   make_kicks();
//   //test_walks();
//   //exit(0);

//   mset(angles,0.0,NumPIDJoints);
//   mzero(cmd);
//   m.init();
//   m.init(angles);
//   //m.toggle();

  cmd.bound_mode = Motion::BOUND_NONE;
  cmd.motion_cmd = Motion::MOTION_WALK_TROT;
  cmd.head_cmd = Motion::HEAD_SCAN_BALL;
  cmd.vx = 200.0; //270/(1.3*cmd.va+1);
  cmd.vy = 0.0; // 140.00/(1.3*cmd.va+1);
  cmd.va = 0.0;

//ora dovrei mandare il commmand
