diff --git a/script/scenarios/darpa_hyq_path.py b/script/scenarios/darpa_hyq_path.py
index b2824200491a1949bc0f51856acbc56e2584f3f7..f0203541e072e2f100a2f4d08b4205aeecfe900f 100755
--- a/script/scenarios/darpa_hyq_path.py
+++ b/script/scenarios/darpa_hyq_path.py
@@ -54,7 +54,18 @@ afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
 # Note that the standard RRT algorithm is used.
 ps.client.problem.selectConFigurationShooter("RbprmShooter")
 ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
-#~ r.loadObstacleModel (packageName, "darpa", "planning")
+r.loadObstacleModel (packageName, "darpa", "planning")
+r(q_init)
+#~ ps.solve ()
+t = ps.solve ()
+
+#~ print t;
+if isinstance(t, list):
+	t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
+f = open('log.txt', 'a')
+f.write("path computation " + str(t) + "\n")
+f.close()
+>>>>>>> add script
 
 # Solve the problem
 t = ps.solve ()
diff --git a/script/tests/darpa_hyq_path.py b/script/tests/darpa_hyq_path.py
new file mode 100644
index 0000000000000000000000000000000000000000..cbc37b493be34d7daffbe6e03bc2259e8a52f593
--- /dev/null
+++ b/script/tests/darpa_hyq_path.py
@@ -0,0 +1,71 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer
+
+rootJointType = 'freeflyer'
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+urdfName = 'hyq_trunk_large'
+urdfNameRom = ['hyq_lhleg_rom','hyq_lfleg_rom','hyq_rfleg_rom','hyq_rhleg_rom']
+urdfSuffix = ""
+srdfSuffix = ""
+
+rbprmBuilder = Builder ()
+
+rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+rbprmBuilder.setJointBounds ("base_joint_xyz", [-2,5, -1, 1, 0.3, 4])
+rbprmBuilder.setFilter(['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom','hyq_lhleg_rom'])
+rbprmBuilder.setNormalFilter('hyq_lhleg_rom', [0,0,1], 0.5)
+rbprmBuilder.setNormalFilter('hyq_rfleg_rom', [0,0,1], 0.5)
+rbprmBuilder.setNormalFilter('hyq_lfleg_rom', [0,0,1], 0.5)
+rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.5)
+rbprmBuilder.boundSO3([-0.4,0.4,-3,3,-3,3])
+
+#~ from hpp.corbaserver.rbprm. import ProblemSolver
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+ps = ProblemSolver( rbprmBuilder )
+
+r = Viewer (ps)
+
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init [0:3] = [-2, 0, 0.63]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [0:3] = [2, 0, 0.63]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+
+q_goal = q_init [::]
+q_goal [0:3] = [3, 0, 0.63]; r (q_goal)
+
+#~ ps.addPathOptimizer("GradientBased")
+ps.addPathOptimizer("RandomShortcut")
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+ps.client.problem.selectConFigurationShooter("RbprmShooter")
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
+r.loadObstacleModel (packageName, "darpa", "planning")
+r(q_init)
+#~ ps.solve ()
+t = ps.solve ()
+if isinstance(t, list):
+  t = t[len(t)-1]
+
+f = open('log.txt', 'a')
+f.write("path computation " + str(t) + "\n")
+f.close()
+r.displayRoadmap("rm",white,0.01,1,green)
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+
+#~ rbprmBuilder.exportPath (r, ps.client.problem, 1, 0.1, "darpa_hyq_robust_20_path.txt")
+#~ pp.fromFile("/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+#~ 
+#~ pp (2)
+#~ pp (0)
+
+pp (1)
+
+# r.client.gui.removeFromGroup("rm",r.sceneName)
+#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+