From 2c4f5854a94e29fc23e044d23350ab84a40d1e33 Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@axle.laas.fr>
Date: Wed, 5 Aug 2015 00:48:05 +0200
Subject: [PATCH] standing up scenario

---
 data/meshes/stair_bauzil.stl      |  Bin 0 -> 3684 bytes
 data/srdf/stair_bauzil.srdf       |   18 +
 data/stair.blend                  |  Bin 0 -> 323136 bytes
 data/stair_bauzil.blend           |  Bin 0 -> 382512 bytes
 data/urdf/stair_bauzil.urdf       |   19 +
 script/loadhrp2stair.py           |   52 +-
 script/loadhrp2stair_bauzil.py    |  103 +
 script/mardi.txt                  |    1 +
 script/mardigood.txt              |    1 +
 script/paths/stair.path           | 1026 +++++++
 script/paths/truck.path           | 4348 ++++++-----------------------
 script/stair_path_bauzil_hrp2.py  |   53 +
 script/stair_path_bauzil_hrp2.pyc |  Bin 0 -> 1548 bytes
 script/stair_path_hrp2.py         |   23 +-
 script/stair_path_hrp2.pyc        |  Bin 1528 -> 1769 bytes
 15 files changed, 2166 insertions(+), 3478 deletions(-)
 create mode 100644 data/meshes/stair_bauzil.stl
 create mode 100644 data/srdf/stair_bauzil.srdf
 create mode 100644 data/stair.blend
 create mode 100644 data/stair_bauzil.blend
 create mode 100644 data/urdf/stair_bauzil.urdf
 create mode 100644 script/loadhrp2stair_bauzil.py
 create mode 100644 script/mardi.txt
 create mode 100644 script/mardigood.txt
 create mode 100644 script/paths/stair.path
 create mode 100644 script/stair_path_bauzil_hrp2.py
 create mode 100644 script/stair_path_bauzil_hrp2.pyc

diff --git a/data/meshes/stair_bauzil.stl b/data/meshes/stair_bauzil.stl
new file mode 100644
index 0000000000000000000000000000000000000000..670fe94e40ea3dab777f06a194e00d6791e45923
GIT binary patch
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diff --git a/data/srdf/stair_bauzil.srdf b/data/srdf/stair_bauzil.srdf
new file mode 100644
index 0000000..7d3b2c8
--- /dev/null
+++ b/data/srdf/stair_bauzil.srdf
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<robot name="stair_bauzil">
+  <handle name="handle">
+    <position> 0 0 0 1 0 0 0 </position>
+    <link name="base_link"/>
+  </handle>
+  <handle name="handle2">
+    <position> 0 0 0
+      0 0 0.7071067811865476 0.7071067811865476 </position>
+    <link name="base_link"/>
+  </handle>
+  <contact name="box_surface">
+    <link name="base_link"/>
+    <point>-0.025 -0.025 -0.025   -0.025 0.025 -0.025   -0.025 -0.025 0.025   -0.025 0.025 0.025
+           +0.025 -0.025 -0.025   +0.025 0.025 -0.025   +0.025 -0.025 0.025   +0.025 0.025 0.025 </point>
+    <triangle> 0 2 1 4 5 6</triangle>
+  </contact>
+</robot>
diff --git a/data/stair.blend b/data/stair.blend
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HcmV?d00001

diff --git a/data/urdf/stair_bauzil.urdf b/data/urdf/stair_bauzil.urdf
new file mode 100644
index 0000000..5a49b44
--- /dev/null
+++ b/data/urdf/stair_bauzil.urdf
@@ -0,0 +1,19 @@
+<robot name="stair_bauzil">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package:///../hpp-rbprm-corba/meshes/stair_bauzil.stl"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://hpp-rbprm-corba/meshes/stair_bauzil.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/script/loadhrp2stair.py b/script/loadhrp2stair.py
index e065f8d..ecf0f14 100644
--- a/script/loadhrp2stair.py
+++ b/script/loadhrp2stair.py
@@ -18,7 +18,7 @@ srdfSuffix = ""
 fullBody = FullBody ()
 
 fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
-fullBody.setJointBounds ("base_joint_xyz", [-1,1, -4, -1, 1, 2.2])
+fullBody.setJointBounds ("base_joint_xyz", [-2,1, -1, 1, 0, 2.2])
 
 
 ps = tp.ProblemSolver( fullBody )
@@ -26,19 +26,19 @@ r = tp.Viewer (ps)
 r.loadObstacleModel ('hpp-rbprm-corba', "scene_wall", "contact")
 
 #~ AFTER loading obstacles
-rLegId = '7rLeg'
+rLegId = '0rLeg'
 rLeg = 'RLEG_JOINT0'
 rLegOffset = [0,-0.105,0,]
 rLegNormal = [0,1,0]
 rLegx = 0.09; rLegy = 0.05
-fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 20000, 0.01)
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 10000, 0.1)
 
-lLegId = '8lLeg'
+lLegId = '1lLeg'
 lLeg = 'LLEG_JOINT0'
 lLegOffset = [0,-0.105,0]
 lLegNormal = [0,1,0]
 lLegx = 0.09; lLegy = 0.05
-fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 20000, 0.01)
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 10000, 0.1)
 
 rarmId = '3Rarm'
 rarm = 'RARM_JOINT0'
@@ -46,7 +46,7 @@ rHand = 'RARM_JOINT5'
 rArmOffset = [-0.05,-0.050,-0.050]
 rArmNormal = [1,0,0]
 rArmx = 0.024; rArmy = 0.024
-fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 20000, 0.01)
+fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, 0.01)
 
 
 #~ AFTER loading obstacles
@@ -56,25 +56,49 @@ lHand = 'LARM_JOINT5'
 lArmOffset = [-0.05,-0.050,-0.050]
 lArmNormal = [1,0,0]
 lArmx = 0.024; lArmy = 0.024
-fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 20000, 0.01)
+fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, 0.01)
 
+rKneeId = '0RKnee'
+rLeg = 'RLEG_JOINT0'
+rKnee = 'RLEG_JOINT3'
+rLegOffset = [0.105,0.055,0.017]
+rLegNormal = [-1,0,0]
+rLegx = 0.05; rLegy = 0.05
+#~ fullBody.addLimb(rKneeId, rLeg,rKnee,rLegOffset,rLegNormal, rLegx, rLegy, 10000, 0.01)
+#~ 
+lKneeId = '1LKnee'
+lLeg = 'LLEG_JOINT0'
+lKnee = 'LLEG_JOINT3'
+lLegOffset = [0.105,0.055,0.017]
+lLegNormal = [-1,0,0]
+lLegx = 0.05; lLegy = 0.05
+#~ fullBody.addLimb(lKneeId,lLeg,lKnee,lLegOffset,lLegNormal, lLegx, lLegy, 10000, 0.01)
+ #~ 
+
+fullBody.client.basic.robot.setJointConfig('LARM_JOINT0',[1])
+fullBody.client.basic.robot.setJointConfig('RARM_JOINT0',[-1])
+
+q_0 = fullBody.getCurrentConfig(); 
 q_init = fullBody.getCurrentConfig(); q_init[0:7] = tp.q_init[0:7]
 q_goal = fullBody.getCurrentConfig(); q_goal[0:7] = tp.q_goal[0:7]
 
 
 fullBody.setCurrentConfig (q_init)
-q_init = fullBody.generateContacts(q_init, [0,0,1])
-r (q_init)
+q_0 = fullBody.getCurrentConfig(); 
+q_init = fullBody.generateContacts(q_init, [0,0,-1]); r (q_init)
 
 fullBody.setCurrentConfig (q_goal)
-#~ q_goal = fullBody.generateContacts(q_goal, [0,0,1])
+r(q_goal)
+q_goal = fullBody.generateContacts(q_goal, [0,0,1])
+r(q_goal)
 
-#~ fullBody.setStartState(q_init,[rLegId,lLegId,rarmId,larmId])
-#~ fullBody.setEndState(q_goal,[rLegId,lLegId,rarmId,larmId])
+fullBody.setStartState(q_init,[rLegId,lLegId]) #,rarmId,larmId])
+fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
 #~ 
 #~ configs = fullBody.interpolate(0.1)
-#~ configs2 = fullBody.interpolate(0.05)
+configs = fullBody.interpolate(0.09)
+#~ configs = fullBody.interpolate(0.08)
 i = 0; 
 r (configs[i]); i=i+1; i-1
-
+#~ q_init = fullBody.generateContacts(q_init, [0,0,-1]); r (q_init)
 
diff --git a/script/loadhrp2stair_bauzil.py b/script/loadhrp2stair_bauzil.py
new file mode 100644
index 0000000..97267a6
--- /dev/null
+++ b/script/loadhrp2stair_bauzil.py
@@ -0,0 +1,103 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+
+import stair_path_bauzil_hrp2 as tp
+
+
+
+packageName = "hrp2_14_description"
+meshPackageName = "hrp2_14_description"
+rootJointType = "freeflyer"
+##
+#  Information to retrieve urdf and srdf files.
+urdfName = "hrp2_14"
+urdfSuffix = "_reduced"
+srdfSuffix = ""
+
+fullBody = FullBody ()
+
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("base_joint_xyz", [0,2, -1, 1, 0, 2.2])
+
+
+ps = tp.ProblemSolver( fullBody )
+r = tp.Viewer (ps)
+r.loadObstacleModel ('hpp-rbprm-corba', "stair_bauzil", "contact")
+
+#~ AFTER loading obstacles
+rLegId = '0rLeg'
+rLeg = 'RLEG_JOINT0'
+rLegOffset = [0,-0.105,0,]
+rLegNormal = [0,1,0]
+rLegx = 0.09; rLegy = 0.05
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 20000, 0.01)
+
+lLegId = '1lLeg'
+lLeg = 'LLEG_JOINT0'
+lLegOffset = [0,-0.105,0]
+lLegNormal = [0,1,0]
+lLegx = 0.09; lLegy = 0.05
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 10000, 0.01)
+
+rarmId = '3Rarm'
+rarm = 'RARM_JOINT0'
+rHand = 'RARM_JOINT5'
+rArmOffset = [-0.05,-0.050,-0.050]
+rArmNormal = [1,0,0]
+rArmx = 0.024; rArmy = 0.024
+fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 30000, 0.01)
+
+
+#~ AFTER loading obstacles
+larmId = '4Larm'
+larm = 'LARM_JOINT0'
+lHand = 'LARM_JOINT5'
+lArmOffset = [-0.05,-0.050,-0.050]
+lArmNormal = [1,0,0]
+lArmx = 0.024; lArmy = 0.024
+#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, 0.05)
+
+rKneeId = '0RKnee'
+rLeg = 'RLEG_JOINT0'
+rKnee = 'RLEG_JOINT3'
+rLegOffset = [0.105,0.055,0.017]
+rLegNormal = [-1,0,0]
+rLegx = 0.05; rLegy = 0.05
+#~ fullBody.addLimb(rKneeId, rLeg,rKnee,rLegOffset,rLegNormal, rLegx, rLegy, 10000, 0.01)
+#~ 
+lKneeId = '1LKnee'
+lLeg = 'LLEG_JOINT0'
+lKnee = 'LLEG_JOINT3'
+lLegOffset = [0.105,0.055,0.017]
+lLegNormal = [-1,0,0]
+lLegx = 0.05; lLegy = 0.05
+#~ fullBody.addLimb(lKneeId,lLeg,lKnee,lLegOffset,lLegNormal, lLegx, lLegy, 10000, 0.01)
+ #~ 
+
+#~ fullBody.client.basic.robot.setJointConfig('LARM_JOINT0',[1])
+#~ fullBody.client.basic.robot.setJointConfig('RARM_JOINT0',[-1])
+
+q_0 = fullBody.getCurrentConfig(); 
+q_init = fullBody.getCurrentConfig(); q_init[0:7] = tp.q_init[0:7]
+q_goal = fullBody.getCurrentConfig(); q_goal[0:7] = tp.q_goal[0:7]
+
+
+fullBody.setCurrentConfig (q_init)
+q_0 = fullBody.getCurrentConfig(); 
+q_init = fullBody.generateContacts(q_init, [0,0,1]); r (q_init)
+
+fullBody.setCurrentConfig (q_goal)
+r(q_goal)
+q_goal = fullBody.generateContacts(q_goal, [0,0,1])
+r(q_goal)
+
+fullBody.setStartState(q_init,[rLegId,lLegId]) #,rarmId,larmId])
+fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
+#~ 
+#~ configs = fullBody.interpolate(0.1)
+configs = fullBody.interpolate(0.1)
+i = 0; 
+r (configs[i]); i=i+1; i-1
+#~ q_init = fullBody.generateContacts(q_init, [0,0,-1]); r (q_init)
+
diff --git a/script/mardi.txt b/script/mardi.txt
new file mode 100644
index 0000000..bf47ff6
--- /dev/null
+++ b/script/mardi.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/script/mardigood.txt b/script/mardigood.txt
new file mode 100644
index 0000000..33971fe
--- /dev/null
+++ b/script/mardigood.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/script/paths/stair.path b/script/paths/stair.path
new file mode 100644
index 0000000..06901a7
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+aF0.9847173610462298
+aF0.16048739184091573
+aF0.06588650520718013
+aF0.015312881695934397
+aa(lp108
+F0.01821195776400786
+aF-0.0211520189991265
+aF1.1898119994755976
+aF0.9861345763769223
+aF0.1529196571781994
+aF0.06277964688303296
+aF0.014590807368056555
+aa(lp109
+F0.022300345982991947
+aF-0.02009468026207454
+aF1.1953200335463672
+aF0.9874833016366132
+aF0.14534130177625687
+aF0.05966842831985203
+aF0.013867719663854076
+aa(lp110
+F0.026388734201976044
+aF-0.019037341525022577
+aF1.2008280676171366
+aF0.9887634431521966
+aF0.13775285197511505
+aF0.05655306560130926
+aF0.013143668803985865
+aa(lp111
+F0.030477122420960106
+aF-0.01798000278797062
+aF1.2063361016879062
+aF0.9899749120139177
+aF0.13015483481588808
+aF0.05343377509890093
+aF0.012418705076004961
+aa(lp112
+F0.03456551063994419
+aF-0.016922664050918662
+aF1.2118441357586756
+aF0.9911176240815484
+aF0.12254777800417219
+aF0.050310773456919894
+aF0.011692878830865875
+aa(lp113
+F0.03865389885892827
+aF-0.015865325313866703
+aF1.2173521698294452
+aF0.9921914999902303
+aF0.11493220987339534
+aF0.04718427757740905
+aF0.010966240479427581
+aa(lp114
+F0.04274228707791235
+aF-0.014807986576814744
+aF1.2228602039002145
+aF0.9931964651559883
+aF0.1073086593481227
+aF0.04405450460509685
+aF0.010238840488952341
+aa(lp115
+F0.04683067529689643
+aF-0.013750647839762783
+aF1.228368237970984
+aF0.9941324497809083
+aF0.09967765590732117
+aF0.04092167191231582
+aF0.009510729379600565
+aa(lp116
+F0.05091906351588052
+aF-0.012693309102710824
+aF1.2338762720417535
+aF0.9949993888579883
+aF0.09203972954758557
+aF0.037785997083905544
+aF0.008781957720922069
+aa(lp117
+F0.0550074517348646
+aF-0.011635970365658865
+aF1.2393843061125231
+aF0.9957972221756497
+aF0.08439541074632863
+aF0.034647697902100566
+aF0.008052576128343833
+aa(lp118
+F0.05909583995384868
+aF-0.010578631628606906
+aF1.2448923401832925
+aF0.9965258943219217
+aF0.07674523042493775
+aF0.03150699233140486
+aF0.007322635259654621
+aa(lp119
+F0.06318422817283276
+aF-0.009521292891554947
+aF1.250400374254062
+aF0.9971853546882887
+aF0.06908971991190087
+aF0.028364098503453495
+aF0.006592185811486637
+aa(lp120
+F0.06727261639181684
+aF-0.008463954154502988
+aF1.2559084083248315
+aF0.9977755574732055
+aF0.0614294109059041
+aF0.025219234701862697
+aF0.005861278515794492
+aa(lp121
+F0.07136100461080092
+aF-0.007406615417451029
+aF1.2614164423956011
+aF0.9982964616852786
+aF0.05376483543890363
+aF0.022072619347069413
+aF0.005129964136331712
+aa(lp122
+F0.07544939282978501
+aF-0.006349276680399068
+aF1.2669244764663703
+aF0.9987480311461123
+aF0.04609652583917441
+aF0.018924470981161335
+aF0.004398293465125036
+aa(lp123
+F0.07953778104876909
+aF-0.005291937943347107
+aF1.27243251053714
+aF0.9991302344928231
+aF0.038425014694338386
+aF0.01577500825269847
+aF0.003666317318946761
+aa(lp124
+F0.08362616926775317
+aF-0.00423459920629515
+aF1.2779405446079095
+aF0.9994430451802161
+aF0.030750834814374652
+aF0.012624449901527359
+aF0.002934086535785358
+aa(lp125
+F0.08771455748673726
+aF-0.003177260469243189
+aF1.283448578678679
+aF0.9996864414826293
+aF0.023074519194614063
+aF0.00947301474358886
+aF0.0022016519713146114
+aa(lp126
+F0.09180294570572133
+aF-0.0021199217321912303
+aF1.2889566127494485
+aF0.9998604064954432
+aF0.015396600978721265
+aF0.006320921655720796
+aF0.0014690644953615517
+aa(lp127
+F0.09589133392470542
+aF-0.00106258299513927
+aF1.294464646820218
+aF0.9999649281362538
+aF0.007717613421666023
+aF0.003168389560456205
+aF0.000736374988373373
+aa(lp128
+F0.0999797221436895
+aF-5.244258087311612e-06
+aF1.2999726808909875
+aF0.999999999145713
+aF3.80898526871955e-05
+aF1.5637410818560102e-05
+aF3.6343378836435917e-06
+aa.
\ No newline at end of file
diff --git a/script/paths/truck.path b/script/paths/truck.path
index fb136e2..06901a7 100644
--- a/script/paths/truck.path
+++ b/script/paths/truck.path
@@ -1,3586 +1,1026 @@
 (lp0
 (lp1
-F0.0
-aF-2.2
-aF2.0
-aF0.7316888688738209
+F-0.3
+aF0.0
+aF0.6
+aF1.0
+aF0.0
 aF0.0
-aF0.6816387600233341
 aF0.0
 aa(lp2
-F-0.0013269926656217783
-aF-2.2074761476706755
-aF2.0003737084948754
-aF0.7322164510906655
-aF-0.005088873094721418
-aF0.6810309518712261
-aF0.005478568808423446
+F-0.29865626056429656
+aF-0.001280455637179613
+aF0.6044516296330411
+aF0.9999485838686762
+aF0.009406400139352315
+aF0.0036942373466818893
+aF0.0008377743572214375
 aa(lp3
-F-0.0026539853312435567
-aF-2.2149522953413507
-aF2.000747416989751
-aF0.7327026197898936
-aF-0.010177458367262327
-aF0.6803846252082586
-aF0.010956827753820017
+F-0.2973125211285931
+aF-0.002560911274359226
+aF0.6089032592660821
+aF0.9997943407619422
+aF0.018811832997294935
+aF0.007388094806578663
+aF0.001675462564210134
 aa(lp4
-F-0.003980977996865334
-aF-2.2224284430120265
-aF2.001121125484626
-aF0.7331473474742315
-aF-0.015265468011721189
-aF0.6796998165900984
-aF0.016434466990688422
+F-0.2959687816928896
+aF-0.003841366911538838
+aF0.6133548888991232
+aF0.9995372865409656
+aF0.028215331391885895
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+aF0.0025129784795923714
 aa(lp5
-F-0.005307970662487113
-aF-2.2299045906827017
-aF2.0014948339795016
-aF0.7335506089902732
-aF-0.020352614254753484
-aF0.6789765647489182
-aF0.021911176708577538
+F-0.29462504225718616
+aF-0.005121822548718452
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+aF0.9991774476392135
+aF0.03761592834010848
+aF0.014773150753260087
+aF0.003350235979711569
 aa(lp6
-F-0.006634963328108891
-aF-2.237380738353377
-aF2.001868542474377
-aF0.7339123815299026
-aF-0.02543860937184791
-aF0.6782149105912049
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+F-0.2932813028214827
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 aa(lp7
-F-0.00796195599373067
-aF-2.2448568860240528
-aF2.0022422509692523
-aF0.7342326446315832
-aF-0.030523165703599843
-aF0.6774148971954469
-aF0.0328605686259969
+F-0.29193756338577925
+aF-0.007682733823077677
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+aF0.9981495743713531
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 aa(lp8
-F-0.00928894865935245
-aF-2.2523330336947285
-aF2.0026159594641277
-aF0.7345113801815164
-aF-0.03560599567198108
-aF0.6765765698096974
-aF0.03833263153756334
+F-0.2905938239500758
+aF-0.00896318946025729
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+aF0.9974816457037784
+aF0.06579064574823058
+aF0.025838392688466532
+aF0.005859597203644193
 aa(lp9
-F-0.010615941324974227
-aF-2.2598091813654038
-aF2.002989667959003
-aF0.7347485724146646
-aF-0.04068681179660503
-aF0.6756999758490149
-aF0.04380252638924925
+F-0.28925008451437234
+aF-0.010243645097436903
+aF0.6356130370643286
+aF0.9967111437416267
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+aF0.02952199812646348
+aF0.00669496047039453
 aa(lp10
-F-0.011942933990596006
-aF-2.267285329036079
-aF2.0033633764538785
-aF0.7349442079156441
-aF-0.0457653267109863
-aF0.6747851648927818
-aF0.04926994380861911
+F-0.28790634507866886
+aF-0.011524100734616547
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 aa(lp11
-F-0.013269926656217781
-aF-2.2747614767067543
-aF2.003737084948754
-aF0.7350982756194833
-aF-0.05084125317879395
-aF0.6738321886819002
-aF0.0547345745633588
+F-0.2865626056429653
+aF-0.012804556371796193
+aF0.6445162963304109
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+aF0.09390447872182064
+aF0.03687972307955964
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 aa(lp12
-F-0.01459691932183956
-aF-2.28223762437743
-aF2.0041107934436293
-aF0.7352107668122486
-aF-0.05591430411009729
-aF0.6728411011158654
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 aa(lp13
-F-0.015923911987461337
-aF-2.2897137720481053
-aF2.0044845019385047
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-aF-0.06098419257760343
-aF0.6718119582497171
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 aa(lp14
-F-0.017250904653083113
-aF-2.2971899197187806
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-aF0.7353109965668368
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-aF0.6707448182908695
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 aa(lp15
-F-0.018577897318704895
-aF-2.3046660673894563
-aF2.0052319189282555
-aF0.7352987294597533
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-aF0.6696397415958191
-aF0.07655905217315917
+F-0.2811876479001514
+aF-0.017926378920514782
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 aa(lp16
-F-0.019904889984326674
-aF-2.3121422150601316
-aF2.0056056274231304
-aF0.7352448745041029
-aF-0.07617201670470083
-aF0.6684967906667301
-aF0.08200511724805132
+F-0.27984390846444795
+aF-0.01920683455769443
+aF0.666774444495617
+aF0.9884535600327106
+aF0.1405549396817923
+aF0.05520106520461612
+aF0.01251842601864048
 aa(lp17
-F-0.021231882649948453
-aF-2.319618362730807
-aF2.0059793359180063
-aF0.7351494347458749
-aF-0.08122638986461922
-aF0.6673160301479009
-aF0.08744654418573318
+F-0.2785001690287444
+aF-0.02048729019487408
+aF0.6712260741286582
+aF0.9868662081174843
+aF0.14984550259539067
+aF0.05884980903633196
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 aa(lp18
-F-0.022558875315570232
-aF-2.3270945104014826
-aF2.006353044412881
-aF0.7350124155830577
-aF-0.08627616893146228
-aF0.6660975268221062
-aF0.09288302522388933
+F-0.27715642959304093
+aF-0.021767745832053726
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+aF0.014171968424978892
 aa(lp19
-F-0.02388586798119201
-aF-2.334570658072158
-aF2.006726752907757
-aF0.7348338247653348
-aF-0.09132106829417329
-aF0.6648413496068212
-aF0.09831425287994014
+F-0.27581269015733745
+aF-0.023048201469233375
+aF0.6801293333947406
+aF0.9833872328982793
+aF0.1683794477812809
+aF0.06612876713642668
+aF0.014996596098874469
 aa(lp20
-F-0.025212860646813794
-aF-2.3420468057428336
-aF2.007100461402632
-aF0.7346136723936452
-aF-0.09636080261768734
-aF0.6635475695503228
-aF0.10373991996843267
+F-0.27446895072163396
+aF-0.024328657106413024
+aF0.6845809630277818
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+aF0.0697582328930744
+aF0.01581968163886119
 aa(lp21
-F-0.026539853312435573
-aF-2.349522953413509
-aF2.007474169897508
-aF0.7343519709196134
-aF-0.1013950868590695
-aF0.6622162598276716
-aF0.10915971961841468
+F-0.2731252112859305
+aF-0.02560911274359267
+aF0.689032592660823
+aF0.9795037723410069
+aF0.18684413538930053
+aF0.07338052525279544
+aF0.01664114040519062
 aa(lp22
-F-0.02786684597805735
-aF-2.356999101084184
-aF2.0078478783923828
-aF0.7340487351448441
-aF-0.10642363628363673
-aF0.6608474957365731
-aF0.11457334529079112
+F-0.27178147185022694
+aF-0.026889568380772326
+aF0.6934842222938642
+aF0.9774108527476386
+aF0.19604813300734314
+aF0.07699527172707049
+aF0.017460887925399154
 aa(lp23
-F-0.029193838643679127
-aF-2.36447524875486
-aF2.0082215868872586
-aF0.7337039822200858
-aF-0.11144616648106216
-aF0.6594413546931186
-aF0.11998049079566173
+F-0.2704377324145235
+aF-0.028170024017951975
+aF0.6979358519269054
+aF0.9752174237847462
+aF0.20523197055228076
+aF0.08060210060334069
+aF0.018278839902994486
 aa(lp24
-F-0.03052083130930091
-aF-2.371951396425535
-aF2.008595295382134
-aF0.7333177316442603
-aF-0.11646239338146121
-aF0.6579979162274073
-aF0.1253808503096388
+F-0.26909399297882
+aF-0.029450479655131624
+aF0.7023874815599467
+aF0.9729237110075929
+aF0.21439470362931895
+aF0.08420064098323171
+aF0.019094912226124028
 aa(lp25
-F-0.03184782397492269
-aF-2.379427544096211
-aF2.0089690038770094
-aF0.7328900052633601
-aF-0.12147203327145807
-aF0.6565172619790479
-aF0.13077411839314426
+F-0.2677502535431165
+aF-0.03073093529231127
+aF0.7068391111929879
+aF0.9705299502838531
+aF0.22353539001388328
+aF0.08779052282069406
+aF0.019909020976224295
 aa(lp26
-F-0.03317481664054446
-aF-2.386903691766886
-aF2.0093427123718843
-aF0.7324208272692123
-aF-0.12647480281023252
-aF0.6549994756925401
-aF0.13615999000768508
+F-0.266406514107413
+aF-0.03201139092949091
+aF0.7112907408260289
+aF0.9680363877693587
+aF0.23265308974851062
+aF0.09137137696005573
+aF0.02072108243665048
 aa(lp27
-F-0.034501809306166246
-aF-2.3943798394375615
-aF2.00971642086676
-aF0.7319102241981115
-aF-0.13147041904554535
-aF0.6534446432125401
-aF0.1415381605331061
+F-0.2650627746717095
+aF-0.03329184656667056
+aF0.7157423704590702
+aF0.965443279882785
+aF0.2417468652395074
+aF0.09494283517398344
+aF0.02153101310128521
 aa(lp28
-F-0.035828801971788025
-aF-2.4018559871082372
-aF2.010090129361635
-aF0.7313582249293172
-aF-0.1364585994297419
-aF0.6518528524790032
-aF0.14690832578481886
+F-0.26371903523600604
+aF-0.03457230220385021
+aF0.7201940000921114
+aF0.9627508932792832
+aF0.2508157813533636
+aF0.09850453020134803
+aF0.022338729683125644
 aa(lp29
-F-0.037155794637409804
-aF-2.4093321347789125
-aF2.0104638378565105
-aF0.7307648606834222
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 aa(lp30
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 aa(lp31
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 aa(lp32
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 aa(lp33
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 aa(lp34
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 aa(lp35
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 aa(lp36
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 aa(lp37
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 aa(lp38
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 aa(lp39
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 aa(lp40
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 aa(lp41
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 aa(lp42
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 aa(lp43
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 aa(lp44
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 aa(lp45
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 aa(lp46
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 aa(lp47
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 aa(lp48
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 aa(lp49
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 aa(lp50
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 aa(lp51
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 aa(lp52
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 aa(lp53
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 aa(lp54
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 aa(lp55
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 aa(lp56
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 aa(lp57
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 aa(lp58
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 aa(lp59
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 aa(lp60
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 aa(lp61
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 aa(lp62
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 aa(lp63
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 aa(lp64
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 aa(lp65
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 aa(lp66
-F-0.08625452326541563
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 aa(lp67
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 aa(lp68
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 aa(lp69
-F-0.09023550126228098
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 aa(lp70
-F-0.09156249392790276
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 aa(lp71
-F-0.09288948659352454
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 aa(lp72
-F-0.09421647925914632
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 aa(lp73
-F-0.0955434719247681
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 aa(lp74
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 aa(lp75
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 aa(lp76
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 aa(lp77
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 aa(lp78
-F-0.10217843525287698
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 aa(lp79
-F-0.10350542791849876
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 aa(lp80
-F-0.10483242058412054
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 aa(lp81
-F-0.10615941324974232
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 aa(lp82
-F-0.1074864059153641
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 aa(lp83
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 aa(lp84
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 aa(lp85
-F-0.11146738391222945
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 aa(lp86
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 aa(lp87
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 aa(lp88
-F-0.11544836190909478
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 aa(lp89
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 aa(lp90
-F-0.11810234724033834
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 aa(lp91
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 aa(lp92
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 aa(lp93
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 aa(lp94
-F-0.12341031790282546
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 aa(lp95
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 aa(lp96
-F-0.126064303234069
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 aa(lp97
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 aa(lp98
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 aa(lp99
-F-0.13004528123093437
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 aa(lp100
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 aa(lp101
-F-0.13269926656217793
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 aa(lp102
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 aa(lp103
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 aa(lp104
-F-0.13668024455904326
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 aa(lp105
-F-0.13800723722466504
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 aa(lp106
-F-0.13933422989028682
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 aa(lp107
-F-0.1406612225559086
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 aa(lp108
-F-0.14198821522153038
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 aa(lp109
-F-0.14331520788715216
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 aa(lp110
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 aa(lp111
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 aa(lp112
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 aa(lp113
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 aa(lp114
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 aa(lp115
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 aa(lp116
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 aa(lp117
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 aa(lp118
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 aa(lp119
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 aa(lp120
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 aa(lp121
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 aa(lp122
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 aa(lp123
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 aa(lp124
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 aa(lp125
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 aa(lp126
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 aa(lp127
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 aa(lp128
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 aa.
\ No newline at end of file
diff --git a/script/stair_path_bauzil_hrp2.py b/script/stair_path_bauzil_hrp2.py
new file mode 100644
index 0000000..2d61fe2
--- /dev/null
+++ b/script/stair_path_bauzil_hrp2.py
@@ -0,0 +1,53 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer
+
+rootJointType = 'freeflyer'
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+urdfName = 'hrp2_trunk'
+urdfNameRom = 'hrp2_rom'
+urdfSuffix = ""
+srdfSuffix = ""
+
+rbprmBuilder = Builder ()
+
+rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1, 1, 0, 2.2])
+
+#~ from hpp.corbaserver.rbprm. import ProblemSolver
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+ps = ProblemSolver( rbprmBuilder )
+
+r = Viewer (ps)
+
+q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
+q_goal = q_init [::]
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init [0:3] = [0, -0.6, 0.6]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+
+
+q_goal [0:3] = [1.49, -0.6, 1.25]; 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, "stair_bauzil", "planning")
+ps.solve ()
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+#~ pp.fromFile("/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+#~ 
+#~ pp (2)
+#~ pp (0)
+
+pp (1)
+#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+r (q_init)
diff --git a/script/stair_path_bauzil_hrp2.pyc b/script/stair_path_bauzil_hrp2.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..c12e1b13acc5852de60688c0820fe674a62d8dda
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diff --git a/script/stair_path_hrp2.py b/script/stair_path_hrp2.py
index 60ef411..45634be 100644
--- a/script/stair_path_hrp2.py
+++ b/script/stair_path_hrp2.py
@@ -22,37 +22,40 @@ ps = ProblemSolver( rbprmBuilder )
 r = Viewer (ps)
 
 q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
+q_goal = q_init [::]
+q_goal [0:3] = [0.19, 0.05, 0.9]; r (q_goal)
 
 #~ fullBody.client.basic.robot.setJointConfig('base_joint_SO3',[0.7316888688738209, 0, -0.6816387600233341, 0]); q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
 
+rbprmBuilder.client.basic.robot.setJointConfig('base_joint_SO3',[0.7316888688738209, 0, 0.6816387600233341, 0]); q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
 q_init = rbprmBuilder.getCurrentConfig ();
-q_init [0:3] = [-0.3, 0, 0.7]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+q_init [0:3] = [-0.8, 0.05, 0.5]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
 #~ q_0 [0:3] = [-0.2, 0, 0.3]; r (q_0)
 
 
-q_goal = q_init [::]
-q_goal [0:3] = [0.1, 0, 1.7]; r (q_goal)
+q_goal [0:3] = [0.13, 0.05, 0.8]; r (q_goal)
 #~ q_init [0:6] = [0.0, -2.2, 2.0, 0.7316888688738209, 0.0, 0.6816387600233341]; 
 #~ rbprmBuilder.setCurrentConfig (q_init); r (q_init)
 
 
+#~ ps.addPathOptimizer("GradientBased")
 ps.addPathOptimizer("RandomShortcut")
-ps.addPathOptimizer("GradientBased")
 ps.setInitialConfig (q_init)
 ps.addGoalConfig (q_goal)
 
 ps.client.problem.selectConFigurationShooter("RbprmShooter")
-#~ ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
 r.loadObstacleModel (packageName, "scene_wall", "planning")
 ps.solve ()
 
 
 from hpp.gepetto import PathPlayer
 pp = PathPlayer (rbprmBuilder.client.basic, r)
+#~ pp.fromFile("/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
 #~ 
-pp (2)
-#~ pp (1)
-#~ pp.fromFile("/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/truck.path")
-#~ pp (1)
-#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/truck.path")
+#~ pp (2)
+#~ pp (0)
 
+pp (1)
+#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+r (q_init)
diff --git a/script/stair_path_hrp2.pyc b/script/stair_path_hrp2.pyc
index 040c17feded822dd2d5e60c57d5a76fff2a4a92d..561258ffd030d8e92952e600fe05d1113e6b0f38 100644
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