diff --git a/script/scenarios/demos/darpa_hyq.py b/script/scenarios/demos/darpa_hyq.py
index 5079b5dff549e61ba394bed38e3c32f2ccf31bd4..4e569bdb92983504f22cd352b71b6bc38452a0b6 100644
--- a/script/scenarios/demos/darpa_hyq.py
+++ b/script/scenarios/demos/darpa_hyq.py
@@ -43,6 +43,7 @@ cType = "_3_DOF"
 rLegId = 'rfleg'
 rLeg = 'rf_haa_joint'
 rfoot = 'rf_foot_joint'
+#~ offset = [0.,-0.021,0.]
 offset = [0.,-0.021,0.]
 normal = [0,1,0]
 legx = 0.02; legy = 0.02
@@ -174,7 +175,7 @@ def genPlan(stepsize=0.06):
 	tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
 	global configs
 	start = time.clock() 
-	configs = fullBody.interpolate(stepsize, 8, 0, filterStates = True, testReachability=False, quasiStatic=True)
+	configs = fullBody.interpolate(stepsize, 8, 0, filterStates = False, testReachability=False, quasiStatic=True)
 	end = time.clock() 
 	print "Contact plan generated in " + str(end-start) + "seconds"
 	
diff --git a/script/scenarios/demos/darpa_hyq_path.py b/script/scenarios/demos/darpa_hyq_path.py
index b898b896df4a2c5dad4bdf94ae03f1743e399ce5..b06c14affc0da66b0c2c6cdc2669e8b2f2402303 100644
--- a/script/scenarios/demos/darpa_hyq_path.py
+++ b/script/scenarios/demos/darpa_hyq_path.py
@@ -38,7 +38,7 @@ q_init = rbprmBuilder.getCurrentConfig ();
 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)
-#~ q_goal [0:3] = [-1, 0, 0.75]; r (q_goal)
+#~ q_goal [0:3] = [-1.5, 0, 0.75]; r (q_goal)
 
 # Choosing a path optimizer
 ps.addPathOptimizer("RandomShortcut")
@@ -101,7 +101,7 @@ cl.problem.selectProblem("rbprm_path")
 rbprmBuilder2 = Robot ("toto")
 ps2 = ProblemSolver( rbprmBuilder2 )
 cl.problem.selectProblem("default")
-cl.problem.movePathToProblem(8,"rbprm_path",rbprmBuilder.getAllJointNames())
+cl.problem.movePathToProblem(8,"rbprm_path",rbprmBuilder.getAllJointNames()[1:])
 r2 = Viewer (ps2, viewerClient=r.client)
 r2(q_far)
 
diff --git a/src/hpp/corbaserver/rbprm/tools/obj_to_constraints.py b/src/hpp/corbaserver/rbprm/tools/obj_to_constraints.py
index 2c3601a7f729f3fb93e8d249a4aff751e93bc9a0..95db64f2f185df376acde91470f4525697d77015 100644
--- a/src/hpp/corbaserver/rbprm/tools/obj_to_constraints.py
+++ b/src/hpp/corbaserver/rbprm/tools/obj_to_constraints.py
@@ -39,7 +39,7 @@ def load_obj(filename) :
 		if j!=1:
 			face[i][j] = int(face[i][j]) - 1
    F.append(face)
-
+ fh.close()
  return ObjectData(V, T, N, F)
  
 def inequality(v, n): 
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index 794c53909cdbbd4444468670b9c6a48ef96ca09d..ddee883ed71c8125ef2fd4e4692f5952105c0504 100755
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -912,7 +912,7 @@ namespace hpp {
                     posConstraints.push_back(false);posConstraints.push_back(false);posConstraints.push_back(true);
                     rotConstraints.push_back(true);rotConstraints.push_back(true);rotConstraints.push_back(true);
                     const pinocchio::Frame effectorFrame = device->getFrameByName(limb->effector_.name());
-                    pinocchio::JointPtr_t effectorJoint(new pinocchio::Joint(limb->effector_.joint()));
+                    pinocchio::JointPtr_t effectorJoint= limb->effector_.joint();
                     proj->add(core::NumericalConstraint::create (constraints::Position::create("",fullBody()->device_,
                                                                                                effectorJoint,
                                                                                                effectorFrame.pinocchio().placement * globalFrame,