This video illustrates our work on contact points planning and its recent enhancement by two new functionalities. First, by taking advantage of the possibilities offered by our initial posture generator, we include additional tasks in the planning that are not related to locomotion. Second, we refine the potential function that guides the planner so as to cope with more challenging scenarios. We then test these novelties on difficult problems with success, and experiment the output of one of the planned scenario on a HRP-2 humanoid robot.