diff --git a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
index 6984cb781a8e6276fdeceb04203967f1f3e72fd6..7c31124a08f9505090877b2b10b25e6925a7c197 100755
--- a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
+++ b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
@@ -482,6 +482,10 @@ module hpp
     /// \return size 7 position + quaternion of the octree root
     floatSeq getOctreeTransform(in string limbname, in floatSeq dofArray) raises (Error);
 
+    /// returns whether a state is in static equilibrium
+    /// \param state id of the state
+    double isStateBalanced(in unsigned short state) raises (Error);
+
     /// returns octree transform for a given robot configuration
     /// \param config configuration tested on the robot
     /// \param contacts name of the limbs in contact
diff --git a/script/scenarios/demos/darpa_hyq.py b/script/scenarios/demos/darpa_hyq.py
index b20badf94318ae172bf7f0c64c4a5f15c3bd6c10..d3fe1e3a762c5bc5fcdc30a9613d148e34e15e49 100644
--- a/script/scenarios/demos/darpa_hyq.py
+++ b/script/scenarios/demos/darpa_hyq.py
@@ -183,11 +183,11 @@ def d(step=0.06):
 	print "computing contact plan"
 	genPlan(step)
 	
-def e():
+def e(step = 0.5):
 	print "displaying contact plan"
-	contactPlan()
+	contactPlan(step)
 	
 print "Root path generated in " + str(tp.t) + " ms."
 
 #~ d();e()
-d(0.0005)
+d(0.004);e(0.01)
diff --git a/script/scenarios/demos/rund.sh b/script/scenarios/demos/rund.sh
new file mode 100755
index 0000000000000000000000000000000000000000..eab7645220a9bb27f8fee067d65204a90e897868
--- /dev/null
+++ b/script/scenarios/demos/rund.sh
@@ -0,0 +1,6 @@
+#!/bin/bash         
+
+gepetto-viewer-server & 
+ipython -i --no-confirm-exit ./$1
+
+pkill -f  'gepetto-viewer-server'
diff --git a/script/scenarios/demos/stair_bauzil_hrp2_interp.py b/script/scenarios/demos/stair_bauzil_hrp2_interp.py
index 1b0d534451d2cb348e15e69a8fb37ca1b5b5e621..49deed89e0aaa69cf407101d61949b799db349f4 100755
--- a/script/scenarios/demos/stair_bauzil_hrp2_interp.py
+++ b/script/scenarios/demos/stair_bauzil_hrp2_interp.py
@@ -190,14 +190,14 @@ def genPlan(stepsize=0.1):
 	end = time.clock() 
 	print "Contact plan generated in " + str(end-start) + "seconds"
 	
-def contactPlan():
+def contactPlan(step = 0.5):
+	r.client.gui.setVisibility("hyq", "ON")
 	tp.cl.problem.selectProblem("default")
-	r.client.gui.setVisibility("hrp2_14", "ON")
 	tp.r.client.gui.setVisibility("toto", "OFF")
-	tp.r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
-	for i in range(0,len(configs)-1):
+	tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
+	for i in range(0,len(configs)):
 		r(configs[i]);
-		time.sleep(0.5)		
+		time.sleep(step)	
 		
 		
 def a():
@@ -216,11 +216,23 @@ def d(step=0.1):
 	print "computing contact plan"
 	genPlan(step)
 	
-def e():
+def e(step = 0.5):
 	print "displaying contact plan"
-	contactPlan()
+	contactPlan(step)
 	
 print "Root path generated in " + str(tp.t) + " ms."
 	
-d(0.01); e()
+d(0.05); e(0.01)
+
+print "Root path generated in " + str(tp.t) + " ms."
+	
+#~ from gen_data_from_rbprm import *
+#~ 
+#~ for config in configs:
+	#~ r(config)
+	#~ print(fullBody.client.basic.robot.getComPosition())
+#~ 
+
+#~ gen_and_save(fullBody,configs, "stair_bauzil_contacts_data")
+#~ main()
 
diff --git a/src/hpp/corbaserver/rbprm/rbprmfullbody.py b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
index 27caedd3f2e8bff6c1b39ec54dd704593396548e..59b4cae3226584867030b217d0aee7eda66ea2d1 100755
--- a/src/hpp/corbaserver/rbprm/rbprmfullbody.py
+++ b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
@@ -596,6 +596,14 @@ class FullBody (object):
 		else:
 			return False
 		
+	## Given start and goal states
+	#  generate a contact sequence over a list of configurations
+	#
+    # \param stepSize discretization step
+    # \param pathId Id of the path to compute from
+    def isStateBalanced(self, stateId, robustness = 0):
+		return self.client.rbprm.rbprm.isStateBalanced(stateId) > robustness
+					
 	## Updates limb databases with a user chosen computation
 	#
     # \param analysis name of computation
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index 5021b175d1cd26ea5d98c7d44de1ef667b0ada45..c98d716c7ddd4b5479b544610a32403c94f6956b 100755
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -2065,6 +2065,23 @@ assert(s2 == s1 +1);
         }
     }
 
+    double RbprmBuilder::isStateBalanced(unsigned short stateId) throw (hpp::Error)
+    {
+        try
+        {
+            if(lastStatesComputed_.size() <= stateId)
+            {
+                throw std::runtime_error ("Unexisting state " + std::string(""+(stateId)));
+            }
+            return stability::IsStable(fullBody_,lastStatesComputed_[stateId]);
+        }
+        catch(std::runtime_error& e)
+        {
+            std::cout << "ERROR " << e.what() << std::endl;
+            throw Error(e.what());
+        }
+    }
+
 
     void RbprmBuilder::runSampleAnalysis(const char* analysis, double isstatic) throw (hpp::Error)
     {
diff --git a/src/rbprmbuilder.impl.hh b/src/rbprmbuilder.impl.hh
index d5fd072e751046be59718f050fce8af27badf47c..967b748683bc7637d91a9b34b3e0a44b7d261009 100755
--- a/src/rbprmbuilder.impl.hh
+++ b/src/rbprmbuilder.impl.hh
@@ -208,6 +208,7 @@ namespace hpp {
         virtual hpp::floatSeqSeq* getOctreeBoxes(const char* limbName, const hpp::floatSeq& configuration) throw (hpp::Error);
         virtual hpp::floatSeq* getOctreeTransform(const char* limbName, const hpp::floatSeq& configuration) throw (hpp::Error);
         virtual CORBA::Short isConfigBalanced(const hpp::floatSeq& config, const hpp::Names_t& contactLimbs, double robustnessTreshold) throw (hpp::Error);
+        virtual double isStateBalanced(unsigned short stateId) throw (hpp::Error);
         virtual void runSampleAnalysis(const char* analysis, double isstatic) throw (hpp::Error);
         virtual hpp::floatSeq* runLimbSampleAnalysis(const char* limbname, const char* analysis, double isstatic) throw (hpp::Error);
         virtual void dumpProfile(const char* logFile) throw (hpp::Error);