diff --git a/script/dynamic/stair_bauzil_hrp2_path.py b/script/dynamic/stair_bauzil_hrp2_path.py
new file mode 100644
index 0000000000000000000000000000000000000000..d73b28ef5ec7b05892f772c573f81d687101362e
--- /dev/null
+++ b/script/dynamic/stair_bauzil_hrp2_path.py
@@ -0,0 +1,113 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer
+from hpp.corbaserver import Client
+from hpp.corbaserver.robot import Robot as Parent
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+
+class Robot (Parent):
+	rootJointType = 'freeflyer'
+	packageName = 'hpp-rbprm-corba'
+	meshPackageName = 'hpp-rbprm-corba'
+	# URDF file describing the trunk of the robot HyQ
+	urdfName = 'hrp2_trunk_flexible'
+	urdfSuffix = ""
+	srdfSuffix = ""
+	def __init__ (self, robotName, load = True):
+		Parent.__init__ (self, robotName, self.rootJointType, load)
+		self.tf_root = "base_footprint"
+		self.client.basic = Client ()
+		self.load = load
+		
+
+rootJointType = 'freeflyer'
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+urdfName = 'hrp2_trunk_flexible'
+urdfNameRoms =  ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
+urdfSuffix = ""
+srdfSuffix = ""
+
+rbprmBuilder = Builder ()
+
+rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+#rbprmBuilder.setJointBounds ("base_joint_xyz", [0,1.5, -1, 0, 0.6, 1.3])
+rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1, 1, 0, 2.2])
+rbprmBuilder.setFilter(['hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
+rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support',])
+rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
+rbprmBuilder.boundSO3([-0.,0,-1,1,-1,1])
+vMax = 1;
+aMax = 10;
+extraDof = 6
+rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof)
+rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([-vMax,vMax,-vMax,vMax,0,0,0,0,0,0,0,0])
+indexECS = rbprmBuilder.getConfigSize() - rbprmBuilder.client.basic.robot.getDimensionExtraConfigSpace()
+
+#~ from hpp.corbaserver.rbprm. import ProblemSolver
+
+
+ps = ProblemSolver( rbprmBuilder )
+ps.client.problem.setParameter("aMax",aMax)
+ps.client.problem.setParameter("vMax",vMax)
+ps.client.problem.setParameter("sizeFootX",0.24)
+ps.client.problem.setParameter("sizeFootY",0.14)
+r = Viewer (ps)
+
+
+
+
+q_init = rbprmBuilder.getCurrentConfig ();
+
+q_init [0:3] = [0.15, -0.82, 0.648702]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+
+q_goal = q_init [::]
+q_goal [3:7] = [ 0.98877108,  0.        ,  0.14943813,  0.        ]
+q_goal [0:3] = [1.49, -0.65, 1.15]; r (q_goal)
+#~ q_goal [0:3] = [1.2, -0.65, 1.1]; r (q_goal)
+
+
+
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
+afftool.loadObstacleModel (packageName, "stair_bauzil", "planning", r)
+
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+# Choosing RBPRM shooter and path validation methods.
+ps.client.problem.selectConFigurationShooter("RbprmShooter")
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
+# Choosing kinodynamic methods : 
+ps.selectSteeringMethod("RBPRMKinodynamic")
+ps.selectDistance("KinodynamicDistance")
+ps.selectPathPlanner("DynamicPlanner")
+
+
+#ps.client.problem.prepareSolveStepByStep()
+
+#ps.client.problem.finishSolveStepByStep()
+
+
+ps.solve()
+
+
+
+# Playing the computed path
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+pp.dt=0.005
+#r.client.gui.removeFromGroup("rm0",r.sceneName)
+pp.displayVelocityPath(0)
+pp.speed=0.2
+pp(0)
+
+
+
+
+
+q_far = q_init[::]
+q_far[2] = -3
+r(q_far)
+