diff --git a/script/dynamic/flatGround_hrp2_interpSTATIC.py b/script/dynamic/flatGround_hrp2_interpSTATIC.py
index 5524705e5f7c0fb8adcf176eaf6881fbcb1f398f..6922ce2d684f948a2cacead825a393f66abb2564 100644
--- a/script/dynamic/flatGround_hrp2_interpSTATIC.py
+++ b/script/dynamic/flatGround_hrp2_interpSTATIC.py
@@ -158,7 +158,7 @@ from planning.config import *
 from generate_contact_sequence import *
 
 beginState = 0
-endState = len(configsFull)-1
+endState = 4
 configs=configsFull[beginState:endState+1]
 cs = generateContactSequence(fullBody,configs,beginState, endState,r)
 #player.displayContactPlan()
diff --git a/script/dynamic/flatGround_hrp2_pathKino.py b/script/dynamic/flatGround_hrp2_pathKino.py
index f732fdf7a0fef442cd554a4a91ffd2b4390152f5..6b6f8fe5ae68036c3ec29c745462b7c146016d60 100644
--- a/script/dynamic/flatGround_hrp2_pathKino.py
+++ b/script/dynamic/flatGround_hrp2_pathKino.py
@@ -75,7 +75,7 @@ afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
 # Setting initial and goal configurations
 q_init = rbprmBuilder.getCurrentConfig ();
 q_init[3:7] = [1,0,0,0]
-q_init [0:3] = [0, 0, 0.55]; r (q_init)
+q_init [0:3] = [0, 0, 0.58]; r (q_init)
 
 #q_init[3:7] = [0.7071,0,0,0.7071]
 #q_init [0:3] = [1, 1, 0.65]
@@ -85,7 +85,7 @@ q_goal = q_init [::]
 
 
 q_goal[3:7] = [1,0,0,0]
-q_goal [0:3] = [2, 0, 0.55]; r (q_goal)
+q_goal [0:3] = [2, 0, 0.58]; r (q_goal)
 
 r (q_goal)
 #~ q_goal [0:3] = [-1.5, 0, 0.63]; r (q_goal)
@@ -100,7 +100,7 @@ ps.client.problem.selectPathValidation("RbprmDynamicPathValidation",0.05)
 ps.selectSteeringMethod("RBPRMKinodynamic")
 ps.selectDistance("KinodynamicDistance")
 ps.selectPathPlanner("DynamicPlanner")
-
+ps.selectPathProjector('Progressive',0.05)
 #solve the problem :
 r(q_init)
 
diff --git a/script/dynamic/flatGround_hyq_pathKino.py b/script/dynamic/flatGround_hyq_pathKino.py
index b7bb09f118983406979fde3358a1db57821062e6..4ddbe8b81419a0e09515cdd1933e3e3cf1210947 100644
--- a/script/dynamic/flatGround_hyq_pathKino.py
+++ b/script/dynamic/flatGround_hyq_pathKino.py
@@ -70,6 +70,7 @@ ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
 ps.selectSteeringMethod("RBPRMKinodynamic")
 ps.selectDistance("KinodynamicDistance")
 ps.selectPathPlanner("DynamicPlanner")
+ps.selectPathProjector('Progressive',0.05)
 
 #solve the problem :
 r(q_init)
diff --git a/script/tools/generate_contact_sequence.py b/script/tools/generate_contact_sequence.py
index 0e523c874dbbb9c0b0c1ea3b47085dc128b3eaed..ef07620700e31dce2d4670259d811d813f31ab58 100644
--- a/script/tools/generate_contact_sequence.py
+++ b/script/tools/generate_contact_sequence.py
@@ -5,7 +5,7 @@ from pinocchio.utils import *
 import locomote
 from locomote import WrenchCone,SOC6,ControlType,IntegratorType,ContactPatch, ContactPhaseHumanoid, ContactSequenceHumanoid
 SPEED=0.5
-DURATION_n_CONTACTS = 0.3 # percentage of time allocated to the movement of the com without moving the contacts
+DURATION_n_CONTACTS = 0.2 # percentage of time allocated to the movement of the com without moving the contacts
 global i_sphere 
 DISPLAY_CONTACTS = True
 rleg_id = "RLEG_JOINT5"