diff --git a/data/meshes/hrp2_trunk.stl b/data/meshes/hrp2_trunk.stl
index d7c56faed2c31f0f67e719dbdc5af38b3739a860..afcc76c79d77ccb9e4016d38c89f54d2ff9e8459 100644
Binary files a/data/meshes/hrp2_trunk.stl and b/data/meshes/hrp2_trunk.stl differ
diff --git a/data/urdf/box_rom.urdf b/data/urdf/box_rom.urdf
index 716ce238334950db9a85e03365667242c42afc47..bbf27ab394fcdfdb33aa9def77b5550d781149b8 100755
--- a/data/urdf/box_rom.urdf
+++ b/data/urdf/box_rom.urdf
@@ -1,9 +1,9 @@
-<robot name="hrp2_rom">
+<robot name="box">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rom.stl"/>
+ <mesh filename="package://hpp-rbprm-corba/meshes/box_rom.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
@@ -12,7 +12,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rom.stl"/>
+ <mesh filename="package://hpp-rbprm-corba/meshes/box_rom.stl"/>
</geometry>
</collision>
</link>
diff --git a/data/urdf/hrp2_rom.urdf b/data/urdf/hrp2_rom.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9aef72e74d5f22ed812141927735ac92c28a80d6
--- /dev/null
+++ b/data/urdf/hrp2_rom.urdf
@@ -0,0 +1,19 @@
+<robot name="hrp2_rom">
+ <link name="base_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0.003" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rom.stl"/>
+ </geometry>
+ <material name="white">
+ <color rgba="1 1 1 1"/>
+ </material>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0.003" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rom.stl"/>
+ </geometry>
+ </collision>
+ </link>
+</robot>
diff --git a/data/urdf/hrp2_trunk.urdf b/data/urdf/hrp2_trunk.urdf
index b2d056f27f7f6b843d3f54f18e3f021991d82b5a..46ffb9745e70574370f6d6dfc2f72d575a24dfbe 100644
--- a/data/urdf/hrp2_trunk.urdf
+++ b/data/urdf/hrp2_trunk.urdf
@@ -1,7 +1,7 @@
<robot name="hrp2_trunk">
<link name="base_link">
<visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
+ <origin xyz="0 0 0" rpy="0 0 0.003" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk.stl"/>
</geometry>
@@ -10,7 +10,7 @@
</material>
</visual>
<collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
+ <origin xyz="0 0 0" rpy="0 0 0.003" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk.stl"/>
</geometry>
diff --git a/script/loadhrp2stair.py b/script/loadhrp2stair.py
new file mode 100644
index 0000000000000000000000000000000000000000..e065f8dce0651ebcfd635756b40bdd4c0325c114
--- /dev/null
+++ b/script/loadhrp2stair.py
@@ -0,0 +1,80 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+
+import stair_path_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", [-1,1, -4, -1, 1, 2.2])
+
+
+ps = tp.ProblemSolver( fullBody )
+r = tp.Viewer (ps)
+r.loadObstacleModel ('hpp-rbprm-corba', "scene_wall", "contact")
+
+#~ AFTER loading obstacles
+rLegId = '7rLeg'
+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 = '8lLeg'
+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)
+
+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, 20000, 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, 20000, 0.01)
+
+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)
+
+fullBody.setCurrentConfig (q_goal)
+#~ q_goal = fullBody.generateContacts(q_goal, [0,0,1])
+
+#~ 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)
+i = 0;
+r (configs[i]); i=i+1; i-1
+
+
diff --git a/script/loadhrp2truck.py b/script/loadhrp2truck.py
index 4d5d0cd7b382b9816f7201e1f9e44194ec66bfbf..a1d8439636009cd0cf348add02f1e1c666e74043 100644
--- a/script/loadhrp2truck.py
+++ b/script/loadhrp2truck.py
@@ -2,6 +2,9 @@ from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
+import truck_path_hrp2 as tp
+
+
packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
@@ -17,13 +20,18 @@ fullBody = FullBody ()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz", [-1,1, -4, -1, 1, 2.2])
-from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+#~ from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+#~ ps = ProblemSolver( fullBody )
+#~ ps.addPathOptimizer("RandomShortcut")
+#~ ps.addPathOptimizer("GradientBased")
+#~ r = Viewer (ps)
+#~ r.loadObstacleModel ('hpp-rbprm-corba', "truck", "car")
+
-ps = ProblemSolver( fullBody )
-ps.addPathOptimizer("RandomShortcut")
-ps.addPathOptimizer("GradientBased")
-r = Viewer (ps)
-r.loadObstacleModel ('hpp-rbprm-corba', "truck", "car")
+ps = tp.ProblemSolver( fullBody )
+r = tp.Viewer (ps)
+r.loadObstacleModel ('hpp-rbprm-corba', "truck", "contact")
#~ AFTER loading obstacles
rLegId = '7rLeg'
@@ -87,23 +95,26 @@ q_0 = fullBody.getCurrentConfig (); r (q_0)
q_init = fullBody.getCurrentConfig (); r (q_init)
-fullBody.client.basic.robot.setJointConfig('base_joint_SO3',[0.7316888688738209, 0, -0.6816387600233341, 0]); q_init = fullBody.getCurrentConfig (); r (q_init)
+#~ fullBody.client.basic.robot.setJointConfig('base_joint_SO3',[0.7316888688738209, 0, -0.6816387600233341, 0]); q_init = fullBody.getCurrentConfig (); r (q_init)
q_init = fullBody.getCurrentConfig (); r (q_init)
q_init [0:6] = [0.0, -2.1, 2.0, 0.7316888688738209, 0.0, 0.6816387600233341]; fullBody.setCurrentConfig (q_init); r (q_init)
+q_goal = q_init [::]
+q_goal [0:7] = [0.0, -4.0, 2.0, 1.0, 0.0, 0.0, 0.0]
+
-q_goal = [0.0, -4.0, 2.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 1.5, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5, 0.0, 0.0]
-
-ps.setInitialConfig (q_init)
-ps.addGoalConfig (q_goal)
-r(q_goal)
-ps.solve ()
+q_init = fullBody.generateContacts(q_init, [0,0,-1])
+r (q_init)
-from hpp.gepetto import PathPlayer
-pp = PathPlayer (fullBody.client.basic, r)
+fullBody.setCurrentConfig (q_goal)
+q_goal = fullBody.generateContacts(q_goal, [0,0,-1])
-#~ pp (1)
+fullBody.setStartState(q_init,[rLegId,lLegId,rarmId,larmId])
+fullBody.setEndState(q_goal,[rLegId,lLegId,rarmId,larmId])
+#~
+configs = fullBody.interpolate(0.5)
+#~ configs2 = fullBody.interpolate(0.05)
+i = 0;
+r (configs[i]); i=i+1; i-1
-#~ pp.toFile(0, "/home/stonneau/test.txt")
diff --git a/script/paths/truck.path b/script/paths/truck.path
new file mode 100644
index 0000000000000000000000000000000000000000..fb136e275ee146ed7bb1ea7a73f9726bd593dc5d
--- /dev/null
+++ b/script/paths/truck.path
@@ -0,0 +1,3586 @@
+(lp0
+(lp1
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+aF-3.903768524219608
+aF1.9534825624431695
+aF0.9746168121258314
+aF-0.013345687112227769
+aF-0.20693620570646284
+aF0.08438820370760752
+aa(lp423
+F-0.1413345991706581
+aF-3.9073791964074545
+aF1.9552279291921906
+aF0.9764785042314215
+aF-0.012853013300669602
+aF-0.1992968801058065
+aF0.081272900792025
+aa(lp424
+F-0.135824898470469
+aF-3.9109898685953013
+aF1.9569732959412116
+aF0.9782701115132313
+aF-0.012359416989365336
+aF-0.1916432503636236
+aF0.07815176467386255
+aa(lp425
+F-0.13031519777027986
+aF-3.9146005407831477
+aF1.9587186626902329
+aF0.9799915053821722
+aF-0.011864933605219246
+aF-0.18397586580413314
+aF0.07502501936652536
+aa(lp426
+F-0.12480549707009074
+aF-3.918211212970994
+aF1.9604640294392541
+aF0.9816425622885856
+aF-0.011369598638803517
+aF-0.17629527673877918
+aF0.07189288928600718
+aa(lp427
+F-0.11929579636990165
+aF-3.921821885158841
+aF1.9622093961882752
+aF0.98322316373111
+aF-0.010873447641810977
+aF-0.16860203442673316
+aF0.0687555992347832
+aa(lp428
+F-0.11378609566971253
+aF-3.925432557346687
+aF1.9639547629372964
+aF0.9847331962651862
+aF-0.010376516224503435
+aF-0.1608966910353284
+aF0.06561337438567538
+aa(lp429
+F-0.10827639496952342
+aF-3.9290432295345337
+aF1.9657001296863177
+aF0.9861725515111994
+aF-0.009878840053155844
+aF-0.15317979960042935
+aF0.06246644026569113
+aa(lp430
+F-0.1027666942693343
+aF-3.93265390172238
+aF1.9674454964353387
+aF0.9875411261622581
+aF-0.009380454847496408
+aF-0.1454519139867387
+aF0.059315022739836444
+aa(lp431
+F-0.09725699356914516
+aF-3.9362645739102264
+aF1.96919086318436
+aF0.988838821991609
+aF-0.008881396378142874
+aF-0.13771358884804458
+aF0.05615934799490502
+aa(lp432
+F-0.09174729286895604
+aF-3.9398752460980733
+aF1.9709362299333812
+aF0.9900655458596868
+aF-0.008381700464035167
+aF-0.12996537958741153
+aF0.05299964252324403
+aa(lp433
+F-0.08623759216876696
+aF-3.9434859182859197
+aF1.9726815966824023
+aF0.9912212097207986
+aF-0.007881402969864556
+aF-0.12220784231731752
+aF0.04983613310649819
+aa(lp434
+F-0.08072789146857784
+aF-3.947096590473766
+aF1.9744269634314235
+aF0.9923057306294446
+aF-0.007380539803499528
+aF-0.11444153381973991
+aF0.046669046799332786
+aa(lp435
+F-0.07521819076838872
+aF-3.9507072626616124
+aF1.9761723301804448
+aF0.9933190307462696
+aF-0.006879146913408593
+aF-0.10666701150619387
+aF0.04349861091313749
+aa(lp436
+F-0.0697084900681996
+aF-3.954317934849459
+aF1.9779176969294658
+aF0.9942610373436513
+aF-0.006377260286080128
+aF-0.09888483337772493
+aF0.04032505299971134
+aa(lp437
+F-0.06419878936801048
+aF-3.9579286070373056
+aF1.979663063678487
+aF0.9951316828109189
+aF-0.0058749159434395345
+aF-0.09109555798485969
+aF0.037148600834930795
+aa(lp438
+F-0.058689088667821354
+aF-3.961539279225152
+aF1.9814084304275084
+aF0.9959309046592071
+aF-0.005372149940263827
+aF-0.08329974438751694
+aF0.033969482402401475
+aa(lp439
+F-0.05317938796763227
+aF-3.9651499514129984
+aF1.9831537971765294
+aF0.9966586455259394
+aF-0.004868998361593883
+aF-0.07549795211488232
+aF0.030787925877095154
+aa(lp440
+F-0.047669687267443146
+aF-3.9687606236008452
+aF1.9848991639255507
+aF0.9973148531789469
+aF-0.0043654973201444885
+aF-0.06769074112524896
+aF0.027604159608972865
+aa(lp441
+F-0.042159986567254025
+aF-3.9723712957886916
+aF1.986644530674572
+aF0.9978994805202163
+aF-0.003861682953712444
+aF-0.059878671765827854
+aF0.024418412106595625
+aa(lp442
+F-0.036650285867064904
+aF-3.975981967976538
+aF1.9883898974235932
+aF0.9984124855892701
+aF-0.0033575914225828308
+aF-0.05206230473252992
+aF0.021230912020723643
+aa(lp443
+F-0.031140585166875782
+aF-3.9795926401643844
+aF1.9901352641726142
+aF0.9988538315661785
+aF-0.0028532589069336844
+aF-0.04424220102972319
+aF0.018041888127905355
+aa(lp444
+F-0.025630884466686665
+aF-3.9832033123522312
+aF1.9918806309216355
+aF0.9992234867742023
+aF-0.002348721604239226
+aF-0.036418921929967735
+aF0.014851569314057437
+aa(lp445
+F-0.020121183766497575
+aF-3.9868139845400776
+aF1.9936259976706567
+aF0.999521424682066
+aF-0.0018440157266718681
+aF-0.028593028933731585
+aF0.011660184558036997
+aa(lp446
+F-0.014611483066308453
+aF-3.990424656727924
+aF1.9953713644196778
+aF0.9997476239058625
+aF-0.0013391774985031457
+aF-0.020765083729089896
+aF0.008467962915206996
+aa(lp447
+F-0.0091017823661193
+aF-3.9940353289157704
+aF1.997116731168699
+aF0.9999020682105874
+aF-0.0008342431535038025
+aF-0.012935648151411138
+aF0.005275133500996327
+aa(lp448
+F-0.00359208166593018
+aF-3.9976460011036172
+aF1.9988620979177203
+aF0.9999847465113045
+aF-0.0003292489323431846
+aF-0.005105284143032469
+aF0.002081925474455519
+aa.
\ No newline at end of file
diff --git a/script/stair_path_hrp2.py b/script/stair_path_hrp2.py
new file mode 100644
index 0000000000000000000000000000000000000000..60ef411d7422e2be47117780547c19dd8a32bc3d
--- /dev/null
+++ b/script/stair_path_hrp2.py
@@ -0,0 +1,58 @@
+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", [-1,1, -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)
+
+#~ fullBody.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_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_init [0:6] = [0.0, -2.2, 2.0, 0.7316888688738209, 0.0, 0.6816387600233341];
+#~ rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+
+
+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)
+r.loadObstacleModel (packageName, "scene_wall", "planning")
+ps.solve ()
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+#~
+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")
+
diff --git a/script/stair_path_hrp2.pyc b/script/stair_path_hrp2.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..040c17feded822dd2d5e60c57d5a76fff2a4a92d
Binary files /dev/null and b/script/stair_path_hrp2.pyc differ
diff --git a/script/truck_path_hrp2.py b/script/truck_path_hrp2.py
new file mode 100644
index 0000000000000000000000000000000000000000..9691b746b952cd7ae2d6ceb78884594902fe969c
--- /dev/null
+++ b/script/truck_path_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", [-1,1, -4, -1, 1, 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)
+
+#~ fullBody.client.basic.robot.setJointConfig('base_joint_SO3',[0.7316888688738209, 0, -0.6816387600233341, 0]); q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
+
+q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
+q_init [0:6] = [0.0, -2.2, 2.0, 0.7316888688738209, 0.0, 0.6816387600233341]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+
+q_goal = [0.0, -4.0, 2.0, 1.0, 0.0, 0.0, 0.0]
+
+
+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)
+r.loadObstacleModel (packageName, "truck", "planning")
+ps.solve ()
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+
+#~ pp (0)
+#~ 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")
+
diff --git a/script/truck_path_hrp2.pyc b/script/truck_path_hrp2.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..ecfc6b2ae01637fad21a2b1ceee8633e3495e1bb
Binary files /dev/null and b/script/truck_path_hrp2.pyc differ
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index 655b65726cbf98e7f37e4ac5ab63efb2e55e7c34..7712d0716c75a399bf15ff42453dde7b3ac7cd94 100755
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -233,10 +233,12 @@ namespace hpp {
dir[i] = direction[i];
}
model::Configuration_t config = dofArrayToConfig (fullBody_->device_, configuration);
+std::cout << "configuration loaded " << config << std::endl;
rbprm::State state = rbprm::ComputeContacts(fullBody_,config,
problemSolver_->collisionObstacles(), dir);
hpp::floatSeq* dofArray = new hpp::floatSeq();
- dofArray->length(_CORBA_ULong(config.rows()));
+std::cout << "configuration out " << state.configuration_ << std::endl;
+ dofArray->length(_CORBA_ULong(state.configuration_.rows()));
for(std::size_t i=0; i< _CORBA_ULong(config.rows()); i++)
(*dofArray)[(_CORBA_ULong)i] = state.configuration_ [i];
return dofArray;