From c8ea22e91d5127634d5b51d947aafb3bb405d208 Mon Sep 17 00:00:00 2001
From: stonneau <stevetonneau@hotmail.fr>
Date: Thu, 2 Feb 2017 12:04:56 +0100
Subject: [PATCH] Update README.md

---
 README.md | 12 +++---------
 1 file changed, 3 insertions(+), 9 deletions(-)

diff --git a/README.md b/README.md
index 1abcccc..3d0b5d6 100755
--- a/README.md
+++ b/README.md
@@ -47,16 +47,10 @@ To install hpp-rbprm-corba:
 
   - Make sure to install hyq.urdf in $HPP_DEVEL_DIR/install/share/hpp-rbprm-corba/
 
-  - The planning is decomposed in two phases / scripts. First, a root path is computed (\*_path.py files). Then, the contacts are generated along the computed path (\*_interp.py files). The scripts are located in the folder /scripts/scenarios.
-
-  - To only plan and see the root path, run:
+  - The planning is decomposed in two phases / scripts. First, a root path is computed (\*_path.py files). Then, the contacts are generated along the computed path (\*_interp.py files). The scripts are located in the folder /scripts/scenarios/demos.
 
+  - To see the different steps of the process run
 
     ```$ ./run.sh darpa_hyq_path.py```
 
-  - To generate the complete contact sequence, run:
-
-
-    ```$ ./run.sh darpa_hyq_interp.py```
-
-  The scripts include comments explaining the different calls to the library.
+  The script include comments explaining the different calls to the library. You can call the different methods a() ... d() to see the different steps of the planning.
-- 
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