diff --git a/data/urdf/hyq/hyq_trunk.urdf b/data/urdf/hyq/hyq_trunk.urdf
index 447374977e04bd1cf6a1bd39afc002a06a285f05..81def3f9285d0d5e58f749956fac4b0b819c2fd4 100755
--- a/data/urdf/hyq/hyq_trunk.urdf
+++ b/data/urdf/hyq/hyq_trunk.urdf
@@ -5,7 +5,7 @@
      <inertia ixx="1." ixy="0.0" ixz="0.0" iyy="1." iyz="0.0" izz="1."/>
   </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" scale="2 2 2"/>
       <geometry>
         <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_all.stl"/>
       </geometry>
@@ -14,7 +14,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" scale="2 2 2"/>
       <geometry>
         <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_trunk.stl"/>
       </geometry>
diff --git a/data/urdf/hyq/hyq_trunk_large.urdf b/data/urdf/hyq/hyq_trunk_large.urdf
index 87615ee22da06a05b077185ed61b1b78a0e1a5cb..9b1e103a4f3e28a6b568b76581cf352b39ae40e6 100755
--- a/data/urdf/hyq/hyq_trunk_large.urdf
+++ b/data/urdf/hyq/hyq_trunk_large.urdf
@@ -5,7 +5,7 @@
      <inertia ixx="1." ixy="0.0" ixz="0.0" iyy="1." iyz="0.0" izz="1."/>
   </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" scale="2 2 2"/>
       <geometry>
         <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_all.stl"/>
       </geometry>
@@ -14,9 +14,9 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" scale="5 5 5"/>
       <geometry>
-        <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_trunk_large3.stl"/>
+        <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_trunk_large2.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
diff --git a/script/dynamic/downSlope_hrp2_interp.py b/script/dynamic/downSlope_hrp2_interp.py
index fbf62d676e648fcf7ee33c603a2af2bf72952235..f6bb8eaab116287745b56218d8bbf4a7c90b9f8e 100644
--- a/script/dynamic/downSlope_hrp2_interp.py
+++ b/script/dynamic/downSlope_hrp2_interp.py
@@ -61,13 +61,18 @@ acc_init = tp.ps.configAtParam(pId,0.01)[tp.indexECS+3:tp.indexECS+6]
 dir_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId)-0.01)[tp.indexECS:tp.indexECS+3]
 acc_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId)-0.01)[tp.indexECS+3:tp.indexECS+6]
 
-robTreshold = 1
+robTreshold = 3
 # copy extraconfig for start and init configurations
 q_init[configSize:configSize+3] = dir_init[::]
 q_init[configSize+3:configSize+6] = acc_init[::]
 q_goal[configSize:configSize+3] = dir_goal[::]
 q_goal[configSize+3:configSize+6] = acc_goal[::]
 
+
+# FIXME : test
+q_init[2] = q_init[2]+0.15
+q_goal[2] = q_goal[2]+0.15
+
 fullBody.setStaticStability(False)
 # Randomly generating a contact configuration at q_init
 fullBody.setCurrentConfig (q_init)
@@ -90,7 +95,7 @@ fullBody.setEndState(q_goal,[rLegId,lLegId])
 
 
 
-configs = fullBody.interpolate(0.08,pathId=pId,robustnessTreshold = 1, filterStates = True)
+configs = fullBody.interpolate(0.06,pathId=pId,robustnessTreshold = 1, filterStates = True)
 print "number of configs :", len(configs)
 
 
diff --git a/script/dynamic/downSlope_hyq_interpKino.py b/script/dynamic/downSlope_hyq_interpKino.py
index 31874a005f76ecd155e28502803317fb3d086eb6..6a1166fcfb50e2ffb65652dd74421884f383c301 100644
--- a/script/dynamic/downSlope_hyq_interpKino.py
+++ b/script/dynamic/downSlope_hyq_interpKino.py
@@ -72,11 +72,11 @@ q_goal[configSize+3:configSize+6] = acc_goal[::]
 fullBody.setStaticStability(False)
 # Randomly generating a contact configuration at q_init
 fullBody.setCurrentConfig (q_init)
-q_init = fullBody.generateContacts(q_init,dir_init,acc_init)
+q_init = fullBody.generateContacts(q_init,dir_init,acc_init,2)
 
 # Randomly generating a contact configuration at q_end
 fullBody.setCurrentConfig (q_goal)
-q_goal = fullBody.generateContacts(q_goal, dir_goal,acc_goal)
+q_goal = fullBody.generateContacts(q_goal, dir_goal,acc_goal,2)
 
 
 # specifying the full body configurations as start and goal state of the problem
@@ -87,7 +87,7 @@ fullBody.setEndState(q_goal,[larmId,rLegId,rarmId,lLegId])
 r(q_init)
 # computing the contact sequence
 
-configs = fullBody.interpolate(0.08,pathId=pathId,robustnessTreshold = 2, filterStates = True)
+configs = fullBody.interpolate(0.08,pathId=pathId,robustnessTreshold = 1, filterStates = True)
 
 
 print "number of configs =", len(configs)
diff --git a/script/tools/screenCap.py b/script/tools/screenCap.py
index 84bf859c80d1c664531b42c3a85d7823d1d81fa1..9425890013e1dfcecebabdc6138f9db6b33ae4c2 100644
--- a/script/tools/screenCap.py
+++ b/script/tools/screenCap.py
@@ -38,7 +38,7 @@ tp.r.stopCapture ()
 """
 
 ## avconv (bash) commands
-avconv -i capture_0_%d.png -r 30 -vcodec mpeg4 -qscale 1 -mbd rd -flags +mv4+aic -trellis 2 -cmp 2 -subcmp 2 -g 300 -y downSlope_hyq_contactPlan1.mp4
+avconv -i capture_0_%d.png -r 30 -vcodec mpeg4 -qscale 1 -mbd rd -flags +mv4+aic -trellis 2 -cmp 2 -subcmp 2 -g 300 -y downSlope_hrp2_contactPlan2.mp4
 
 avconv -i capture_0_%d.png -r 30 -vcodec mpeg4 -qscale 1 -mbd rd -flags +mv4+aic -trellis 2 -cmp 2 -subcmp 2 -g 300 -pass 2  hyq_darpa.mp4