diff --git a/script/dynamic/slalom_hrp2_interKino.py b/script/dynamic/slalom_hrp2_interKino.py
index 0796579eb8039ebe3dba9924908dc48b38cb7da1..a4c9f48d0ace21306e4d78054c8720fdf68dfd36 100644
--- a/script/dynamic/slalom_hrp2_interKino.py
+++ b/script/dynamic/slalom_hrp2_interKino.py
@@ -45,7 +45,7 @@ rLeg = 'RLEG_JOINT0'
 rLegOffset = [0,0,-0.105]
 rLegNormal = [0,0,1]
 rLegx = 0.09; rLegy = 0.05
-fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 50000, "forward", 0.1)
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 50000, "forward", 0.05,"_6_DOF")
 fullBody.runLimbSampleAnalysis(rLegId, "ReferenceConfiguration", True)
 #fullBody.saveLimbDatabase(rLegId, "./db/hrp2_rleg_db.db")
 
@@ -53,7 +53,7 @@ lLeg = 'LLEG_JOINT0'
 lLegOffset = [0,0,-0.105]
 lLegNormal = [0,0,1]
 lLegx = 0.09; lLegy = 0.05
-fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 50000, "forward", 0.1)
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 50000, "forward", 0.05,"_6_DOF")
 fullBody.runLimbSampleAnalysis(lLegId, "ReferenceConfiguration", True)
 #fullBody.saveLimbDatabase(lLegId, "./db/hrp2_lleg_db.db")
 tGenerate =  time.time() - tStart
@@ -83,7 +83,7 @@ acc_init = tp.ps.configAtParam(pId,0)[tp.indexECS+3:tp.indexECS+6]
 dir_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[tp.indexECS:tp.indexECS+3]
 acc_goal = [0,0,0]
 
-robTreshold = 1
+robTreshold = 5
 # copy extraconfig for start and init configurations
 q_init[configSize:configSize+3] = dir_init[::]
 q_init[configSize+3:configSize+6] = acc_init[::]
@@ -125,7 +125,7 @@ pp = PathPlayer (fullBody.client.basic, r)
 import fullBodyPlayerHrp2
 
 tStart = time.time()
-configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = robTreshold, filterStates = True)
+configs = fullBody.interpolate(0.02,pathId=pId,robustnessTreshold = robTreshold, filterStates = True)
 tInterpolate = time.time()-tStart
 print "number of configs : ", len(configs)
 print "generated in "+str(tInterpolate)+" s"
@@ -146,7 +146,7 @@ player = fullBodyPlayerHrp2.Player(fullBody,pp,tp,configs,draw=False,use_window=
 
 from planning.config import *
 from generate_contact_sequence import *
-cs = generateContactSequence(fullBody,configs[0:3],r)
+cs = generateContactSequence(fullBody,configs,r)
 filename = OUTPUT_DIR + "/" + OUTPUT_SEQUENCE_FILE
 cs.saveAsXML(filename, "ContactSequence")
 print "save contact sequence : ",filename
diff --git a/script/dynamic/slalom_hrp2_pathKino.py b/script/dynamic/slalom_hrp2_pathKino.py
index 8e5d53b05d0db7053cd9288f5b562f28e7610736..f886fe8a8bff36647d596edc2897df4d05a168f1 100644
--- a/script/dynamic/slalom_hrp2_pathKino.py
+++ b/script/dynamic/slalom_hrp2_pathKino.py
@@ -50,8 +50,8 @@ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
 #rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Lean'])
 rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support',])
 rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
-vMax = 1.;
-aMax = 5.;
+vMax = 0.3;
+aMax = 0.5;
 extraDof = 6
 
 rbprmBuilder.setJointBounds ("base_joint_xyz", [-5.5,5.5, -2.5, 2.5, 0.55, 0.6])
@@ -163,7 +163,7 @@ pp.dt=0.03
 pp.displayVelocityPath(pi)
 r.client.gui.setVisibility("path_"+str(pi)+"_root","ALWAYS_ON_TOP")
 #display path
-pp.speed=0.5
+pp.speed=1
 #pp (0)
 
 
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index 8740520ede39419358559201dbad1035accb93b6..d6f6c1be1c6d9c8b3d34ce1cc69bb0327a977797 100755
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -2037,7 +2037,7 @@ assert(s2 == s1 +1);
             }
 
             core::PathVectorPtr_t resPath = core::PathVector::create(fullBody()->device_->configSize(), fullBody()->device_->numberDof());
-
+            hppDout(notice,"ComRRT : projections done. begin rrt");
             try{
                 hppDout(notice,"begin comRRT states 1 and 1bis");
                 core::PathPtr_t p1 = interpolation::comRRT(fullBody(),problemSolver()->problem(), paths[cT1],