diff --git a/CMakeLists.txt b/CMakeLists.txt
index ffc2d1f295..09950a9657 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -526,7 +526,7 @@ set (GRASPIT_FORMS
     ${GSRC}/ui/settingsDlg.ui 
     ${GSRC}/ui/Planner/plannerdlg.ui 
     ${GSRC}/ui/EGPlanner/egPlannerDlg.ui 
-    ${GSRC}/ui/EGPlanner/compliantPlannerDlg.ui
+    ${GSRC}/ui/EGPlanner/listPlannerDlg.ui
 )
 
 set (GRASPIT_FORM_HEADERS 
@@ -544,7 +544,7 @@ set (GRASPIT_FORM_HEADERS
     ${GSRC}/ui/qmDlg.h 
     ${GSRC}/ui/Planner/plannerdlg.h 
     ${GSRC}/ui/EGPlanner/egPlannerDlg.h 
-    ${GSRC}/ui/EGPlanner/compliantPlannerDlg.h
+    ${GSRC}/ui/EGPlanner/listPlannerDlg.h
 )
 
 set (GRASPIT_FORM_SOURCES
@@ -562,7 +562,7 @@ set (GRASPIT_FORM_SOURCES
     ${GSRC}/ui/settingsDlg.cpp 
     ${GSRC}/ui/Planner/plannerdlg.cpp 
     ${GSRC}/ui/EGPlanner/egPlannerDlg.cpp 
-    ${GSRC}/ui/EGPlanner/compliantPlannerDlg.cpp
+    ${GSRC}/ui/EGPlanner/listPlannerDlg.cpp
 )
 
 set (MOC_HEADERS
@@ -572,7 +572,7 @@ set (MOC_HEADERS
     ${GSRC}/ui/bodyPropDlg.h
     ${GSRC}/ui/eigenGraspDlg.h
     ${GSRC}/ui/EGPlanner/egPlannerDlg.h
-    ${GSRC}/ui/EGPlanner/compliantPlannerDlg.h
+    ${GSRC}/ui/EGPlanner/listPlannerDlg.h
     ${GSRC}/ui/Planner/plannerdlg.h
     ${GSRC}/ui/graspCaptureDlg.h
     ${GSRC}/ui/contactExaminerDlg.h
diff --git a/include/EGPlanner/listPlanner.h b/include/EGPlanner/listPlanner.h
index 6518f3e190..2587a8e0d7 100644
--- a/include/EGPlanner/listPlanner.h
+++ b/include/EGPlanner/listPlanner.h
@@ -59,7 +59,11 @@ class ListPlanner : public EGPlanner
     virtual void mainLoop();
 
     //! Pulls the state at the given index from the input list
-    GraspPlanningState *getState(int index);
+    GraspPlanningState *getInitialState(int index);
+
+    //! Pulls the state at the given index from the final list
+    GraspPlanningState *getFinalState(int index);
+
   public:
     ListPlanner(Hand *h);
     ~ListPlanner();
@@ -79,7 +83,10 @@ class ListPlanner : public EGPlanner
     void testState(int index);
 
     //! Shows the unprocessed state at the given index in the input list
-    void showState(int index);
+    void showInitialState(int index);
+
+    //! Shows the state at the given index in the best list
+    void showFinalState(int index);
 
     //! A hack; shows the state and also does approachToContact as the SearchEnergy would
     void prepareState(int index);
diff --git a/src/EGPlanner/listPlanner.cpp b/src/EGPlanner/listPlanner.cpp
index bd40fa8d0e..abe761515b 100644
--- a/src/EGPlanner/listPlanner.cpp
+++ b/src/EGPlanner/listPlanner.cpp
@@ -34,151 +34,179 @@
 
 //this should be a parameter of the EGPlanner
 //iros09
-#define BEST_LIST_SIZE 2000
+#define BEST_LIST_SIZE 20000
 
 ListPlanner::ListPlanner(Hand *h)
 {
-  mHand = h;
-  init();
-  mEnergyCalculator = SearchEnergy::getSearchEnergy(ENERGY_CONTACT);
-  mEnergyCalculator->disableRendering(false);
+	mHand = h;
+	init();
+    mEnergyCalculator = SearchEnergy::getSearchEnergy(ENERGY_CONTACT);
+	mEnergyCalculator->disableRendering(false);
 }
 
 /*! The destructor also eliminates the list of input grasps, therefore
-  care must be excercised when passing grasps to this class.
+	care must be excercised when passing grasps to this class. 
 */
 ListPlanner::~ListPlanner()
 {
-  while (!mInputList.empty()) {
-    delete mInputList.back();
-    mInputList.pop_back();
-  }
+	while (!mInputList.empty()){
+		delete mInputList.back();
+		mInputList.pop_back();
+	}
 }
 
-void
-ListPlanner::resetParameters() {
-  EGPlanner::resetParameters();
-  mPlanningIterator = mInputList.begin();
-  if (mCurrentState) { delete mCurrentState; }
-  mCurrentState = new GraspPlanningState(*mPlanningIterator);
+void 
+ListPlanner::resetParameters(){
+	EGPlanner::resetParameters();
+	mPlanningIterator = mInputList.begin();
+	if(mCurrentState) delete mCurrentState;
+	mCurrentState = new GraspPlanningState(*mPlanningIterator);
 }
 
-void
-ListPlanner::setInput(std::list<GraspPlanningState *> input)
+void 
+ListPlanner::setInput(std::list<GraspPlanningState*> input)
 {
-  if (isActive()) {
-    DBGA("Can not change input while planner is running");
-    return;
-  }
-  while (!mInputList.empty()) {
-    delete mInputList.back();
-    mInputList.pop_back();
-  }
-  mInputList = input;
-  mMaxSteps = input.size();
-  invalidateReset();
+	if (isActive()) {
+		DBGA("Can not change input while planner is running");
+		return;
+	}
+	while (!mInputList.empty()){
+		delete mInputList.back();
+		mInputList.pop_back();
+	}
+	mInputList = input;
+	mMaxSteps = input.size();
+	invalidateReset();
 }
 
-GraspPlanningState *
-ListPlanner::getState(int index)
+GraspPlanningState*
+ListPlanner::getInitialState(int index)
 {
-  std::list<GraspPlanningState *>::iterator it = mInputList.begin();
-  int count = 0;
-  while (it != mInputList.end() && count < index) {
-    count++; it++;
-  }
-  if (it == mInputList.end()) {
-    DBGA("Requested grasp not in list");
-    return NULL;
-  }
-  return *it;
+	std::list<GraspPlanningState*>::iterator it = mInputList.begin();
+	int count = 0;
+	while (it!=mInputList.end() && count < index) {
+		count++; it++;
+	}
+	if (it==mInputList.end()) {
+		DBGA("Requested grasp not in list");
+		return NULL;
+	}
+	return *it;
 }
 
-void
+GraspPlanningState*
+ListPlanner::getFinalState(int index)
+{
+    std::list<GraspPlanningState*>::iterator it = mBestList.begin();
+    int count = 0;
+    while (it!=mBestList.end() && count < index) {
+        count++; it++;
+    }
+    if (it==mBestList.end()) {
+        DBGA("Requested grasp not in list");
+        return NULL;
+    }
+    return *it;
+}
+
+void 
 ListPlanner::testState(int index)
 {
-  GraspPlanningState *state = getState(index);
-  if (!state) { return; }
-  bool legal; double energy;
-  mEnergyCalculator->analyzeState(legal, energy, state, false);
-  DBGA("Energy: " << energy);
+    GraspPlanningState *state = getInitialState(index);
+	if (!state) return;
+	bool legal; double energy;
+	mEnergyCalculator->analyzeState(legal, energy, state, false);
+	DBGA("Energy: " << energy);
 }
 
 void
-ListPlanner::showState(int index)
+ListPlanner::showInitialState(int index)
 {
-  GraspPlanningState *state = getState(index);
-  if (!state) { return; }
-  state->execute();
+    GraspPlanningState *state = getInitialState(index);
+	if (!state) return;
+	state->execute();
+}
+
+void
+ListPlanner::showFinalState(int index)
+{
+    GraspPlanningState *state = getFinalState(index);
+    if (!state) return;
+    state->execute();
 }
 
 void
 ListPlanner::prepareState(int index)
 {
-  showState(index);
-  mHand->findInitialContact(200);
+    showInitialState(index);
+    mHand->findInitialContact(200);
 }
 
 /*! The main planning function. Simply takes the next input grasp from the list,
-  tries it and then places is in the output depending on the quality.
+	tries it and then places is in the output depending on the quality.
 */
-void
+void 
 ListPlanner::mainLoop()
 {
-  //check if we are done
-  if (mPlanningIterator == mInputList.end()) {
-    mCurrentStep = mMaxSteps + 1;
-    return;
-  }
-
-  //analyze the current state
-  //we don't allow it to leave the hand in the analysis posture
-  //so that after dynamics object gets put back
-  bool legal; double energy;
-  PRINT_STAT(mOut, mCurrentStep);
-  mEnergyCalculator->analyzeState(legal, energy, *mPlanningIterator, true);
-
-  //for rendering purposes; will see later if it's needed
-  mCurrentState->copyFrom(*mPlanningIterator);
-  mCurrentState->setLegal(legal);
-
-  //put a copy of the result in list if it's legal and there's room or it's
-  //better than the worst solution so far
-  //this whole thing could go into a higher level fctn in EGPlanner
-  if (legal) {
-    double worstEnergy;
-    if ((int)mBestList.size() < BEST_LIST_SIZE) { worstEnergy = 1.0e5; }
-    else { worstEnergy = mBestList.back()->getEnergy(); }
-    if (energy < worstEnergy) {
-      GraspPlanningState *insertState = new GraspPlanningState(*mPlanningIterator);
-      insertState->setEnergy(energy);
-      insertState->setItNumber(mCurrentStep);
-      DBGP("Solution at step " << mCurrentStep);
-      mBestList.push_back(insertState);
-      mBestList.sort(GraspPlanningState::compareStates);
-      while ((int)mBestList.size() > BEST_LIST_SIZE) {
-        delete(mBestList.back());
-        mBestList.pop_back();
-      }
-    }
-  }
-
-  //advance the planning iterator
-  mPlanningIterator++;
-  mCurrentStep++;
-  Q_EMIT update();
-  PRINT_STAT(mOut, std::endl);
+	//check if we are done
+	if (mPlanningIterator==mInputList.end()) {
+		mCurrentStep = mMaxSteps+1;
+		return;
+	}
+
+	//analyze the current state
+	//we don't allow it to leave the hand in the analysis posture
+	//so that after dynamics object gets put back
+	bool legal; double energy;
+	PRINT_STAT(mOut, mCurrentStep);
+
+    (*mPlanningIterator)->execute();
+    mHand->findInitialContact(200);
+
+    mEnergyCalculator->analyzeState(legal, energy, *mPlanningIterator, false);
+
+	//for rendering purposes; will see later if it's needed
+	mCurrentState->copyFrom(*mPlanningIterator);
+	mCurrentState->setLegal(legal);
+
+	//put a copy of the result in list if it's legal and there's room or it's 
+	//better than the worst solution so far
+	//this whole thing could go into a higher level fctn in EGPlanner
+	if (legal) {
+		double worstEnergy;
+        if ((int)mBestList.size() < BEST_LIST_SIZE) worstEnergy = 1.0e5;
+		else worstEnergy = mBestList.back()->getEnergy();
+		if (energy < worstEnergy) {
+			GraspPlanningState *insertState = new GraspPlanningState(*mPlanningIterator);
+            insertState->saveCurrentHandState();
+			insertState->setEnergy(energy);
+			insertState->setItNumber(mCurrentStep);
+			DBGP("Solution at step " << mCurrentStep);
+			mBestList.push_back(insertState);
+			mBestList.sort(GraspPlanningState::compareStates);
+            while ((int)mBestList.size() > BEST_LIST_SIZE) {
+				delete(mBestList.back());
+				mBestList.pop_back();
+			}
+		}
+	}
+
+	//advance the planning iterator
+    mPlanningIterator++;
+	mCurrentStep++;
+	Q_EMIT update();
+	PRINT_STAT(mOut, std::endl);
 }
 
-void
+void 
 ListPlanner::showVisualMarkers(bool show)
 {
-  std::list<GraspPlanningState *>::iterator it;
-  for (it = mInputList.begin(); it != mInputList.end(); it++) {
-    if (show) {
-      (*it)->showVisualMarker();
-    } else {
-      (*it) ->hideVisualMarker();
-    }
-  }
+	std::list<GraspPlanningState*>::iterator it;
+	for (it = mInputList.begin(); it!=mInputList.end(); it++) {
+		if (show) {
+			(*it)->showVisualMarker();
+		} else {
+			(*it) ->hideVisualMarker();
+		}
+	}
 }
diff --git a/ui/EGPlanner/compliantPlannerDlg.cpp b/ui/EGPlanner/compliantPlannerDlg.cpp
deleted file mode 100644
index 699de75528..0000000000
--- a/ui/EGPlanner/compliantPlannerDlg.cpp
+++ /dev/null
@@ -1,518 +0,0 @@
-//######################################################################
-//
-// GraspIt!
-// Copyright (C) 2002-2009  Columbia University in the City of New York.
-// All rights reserved.
-//
-// GraspIt! is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
-//
-// GraspIt! is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
-//
-// Author(s): Matei T. Ciocarlie
-//
-// $Id: compliantPlannerDlg.cpp,v 1.14 2009/07/02 21:04:05 cmatei Exp $
-//
-//######################################################################
-
-#include "compliantPlannerDlg.h"
-
-#include <iostream>
-
-#include <Inventor/actions/SoGetBoundingBoxAction.h>
-
-#include <QIntValidator>
-
-//#define GRASPITDBG
-#include "debug.h"
-
-//#define PROF_ENABLED
-#include "profiling.h"
-
-PROF_DECLARE(QS_TOTAL);
-
-//for the bounding box and drawing forces
-#include "graspitCore.h"
-#include "ivmgr.h"
-
-//for debug
-#include "world.h"
-
-#include "robot.h"
-#include "body.h"
-#include "grasp.h"
-#include "listPlanner.h"
-#include "searchState.h"
-
-void
-CompliantPlannerDlg::init()
-{
-  mPlanner = new ListPlanner(mHand);
-  energyTypeBox->insertItem("Quasistatic");
-  energyTypeBox->insertItem("Dynamic");
-  mPlanner->setRenderType(RENDER_ALWAYS);
-  mPlanner->setStatStream(&std::cerr);
-  mOut = NULL;
-  mHand->getGrasp()->setObjectNoUpdate(mObject);
-  mObjectRefTran = mObject->getTran();
-  QObject::connect(mPlanner, SIGNAL(update()), this, SLOT(update()));
-  QObject::connect(mPlanner, SIGNAL(finished()), this, SLOT(plannerFinished()));
-  mNumCandidates = 0;
-  currentLabel->setText("0/0");
-  QIntValidator *val = new QIntValidator(2, 99, this);
-  resolutionEdit->setValidator(val);
-  resolutionEdit->setText("8");
-  QIntValidator *val2 = new QIntValidator(this);
-  testOneEdit->setValidator(val2);
-  testOneEdit->setText("0");
-  resultsBox->insertItem("console");
-  resultsBox->insertItem("file:");
-  resultsFileEdit->setText("comp_plan.txt");
-
-  QDoubleValidator *dVal = new QDoubleValidator(0.5, 1.5, 3, this);
-  tFromEdit->setValidator(dVal);
-  tToEdit->setValidator(dVal);
-  tStepEdit->setValidator(dVal);
-  sFromEdit->setValidator(dVal);
-  sToEdit->setValidator(dVal);
-  sStepEdit->setValidator(dVal);
-
-  tFromEdit->setText("0.5");
-  tToEdit->setText("1.5");
-  tStepEdit->setText("0.1");
-  sFromEdit->setText("0.5");
-  sToEdit->setText("1.5");
-  sStepEdit->setText("0.1");
-
-}
-
-CompliantPlannerDlg::~CompliantPlannerDlg()
-{
-  if (mOut) {
-    mOut->close();
-    delete mOut;
-  }
-  delete mPlanner;
-}
-
-void
-CompliantPlannerDlg::addCartesianSamples(const GraspPlanningState &seed,
-                                         std::list<GraspPlanningState *> *sampling,
-                                         int samples, double x, double y, double z)
-{
-  //redundant, but easier...
-  double a = seed.readPosition()->getParameter("a");
-  double b = seed.readPosition()->getParameter("b");
-  //double c = seed.readPosition()->getParameter("c");
-  //compute angular values
-  //from HandObjectStateImpl:
-  //x =  a * cos(beta) * cos(gamma);
-  //y =  b * cos(beta) * sin(gamma);
-  //z =  c * sin(beta);
-  double beta = asin(z / sqrt(x * x + y * y + z * z));
-  double gamma = atan2(y / b, x / a);
-  DBGP("x: " << x << "; y: " << y << "; z: " << z);
-  DBGP("gamma: " << gamma << "; beta: " << beta);
-  //sample roll angle as well
-  for (int m = 0; m < samples; m++) {
-    //only sample from 0 to almost PI, as the HH is symmetric
-    double tau = M_PI * ((double)m) / samples;
-    GraspPlanningState *newState = new GraspPlanningState(&seed);
-    newState->getPosition()->getVariable("tau")->setValue(tau);
-    newState->getPosition()->getVariable("gamma")->setValue(gamma);
-    newState->getPosition()->getVariable("beta")->setValue(beta);
-    sampling->push_back(newState);
-  }
-}
-
-/*! Samples an ellipsoid by sampling uniformly a grid with the same aspect
-  ratio and projecting the resulting points on the ellipsoid. Not ideal,
-  but at least much better then sampling angular variables directly */
-void
-CompliantPlannerDlg::gridEllipsoidSampling(const GraspPlanningState &seed,
-                                           std::list<GraspPlanningState *> *sampling,
-                                           int samples)
-{
-  double a = seed.readPosition()->getParameter("a");
-  double aRes = 2.0 * a / samples;
-  double b = seed.readPosition()->getParameter("b");
-  double bRes = 2.0 * b / samples;
-  double c = seed.readPosition()->getParameter("c");
-  double cRes = 2.0 * c / samples;
-  DBGP("a: " << a << "; b: " << b << "; c: " << c);
-
-  for (double i = 0.5; i < samples; i += 1.0) {
-    for (double j = 0.5; j < samples; j += 1.0) {
-      addCartesianSamples(seed, sampling, samples,  a, -b + i * bRes, -c + j * cRes);
-      addCartesianSamples(seed, sampling, samples, -a, -b + i * bRes, -c + j * cRes);
-      addCartesianSamples(seed, sampling, samples, -a + i * aRes, b , -c + j * cRes);
-      addCartesianSamples(seed, sampling, samples, -a + i * aRes, -b , -c + j * cRes);
-      addCartesianSamples(seed, sampling, samples, -a + i * aRes, -b + j * bRes , c);
-      addCartesianSamples(seed, sampling, samples, -a + i * aRes, -b + j * bRes , -c);
-    }
-  }
-}
-
-void
-CompliantPlannerDlg::generateButtonClicked()
-{
-  int resolution = resolutionEdit->text().toInt();
-  if (resolution < 1) {
-    DBGA("Resolution must be at least 1");
-    return;
-  }
-  //get object bbox dimensions
-  SoGetBoundingBoxAction *bba =
-    new SoGetBoundingBoxAction(graspitCore->getIVmgr()->getViewer()->getViewportRegion());
-  bba->apply(mObject->getIVGeomRoot());
-  SbVec3f bbmin, bbmax;
-  bba->getBoundingBox().getBounds(bbmin, bbmax);
-  delete bba;
-  double a = 0.5 * (bbmax[0] - bbmin[0]);
-  double b = 0.5 * (bbmax[1] - bbmin[1]);
-  double c = 0.5 * (bbmax[2] - bbmin[2]);
-  //ellipsoidSampling(a,b,c,resolution);
-  boxSampling(a, b, c, resolution);
-
-  mPlanner->resetPlanner();
-  if (visualMarkersBox->isChecked()) {
-    visualMarkersBoxClicked();
-  }
-  update();
-}
-
-void
-CompliantPlannerDlg::ellipsoidSampling(double a, double b, double c, double resolution)
-{
-  //generate a list of grasps by sampling an ellipsoid around the object
-  GraspPlanningState seed(mHand);
-  seed.setObject(mObject);
-  //todo: should use bbox center as reference frame, not object origin
-  //which could be anything
-  seed.setRefTran(mObject->getTran(), false);
-  seed.setPostureType(POSE_DOF, false);
-  seed.setPositionType(SPACE_ELLIPSOID, false);
-  seed.reset();
-
-  //set ellipsoid parameters
-  seed.getPosition()->setParameter("a", a);
-  seed.getPosition()->setParameter("b", b);
-  seed.getPosition()->setParameter("c", c);
-  //we don't want to sample distance
-  seed.getPosition()->getVariable("dist")->setValue(0.0);
-  seed.getPosition()->getVariable("dist")->setFixed(true);
-  //create a list of earch states that sample the variables of the seed
-  std::list<GraspPlanningState *> sampling;
-  //uniform sampling of variables. Creates a horrible sampling.
-  //createPositionSpaceSampling(seed, &sampling, resolution);
-  //grid based sampling. Does somewhat better.
-  gridEllipsoidSampling(seed, &sampling, resolution);
-  DBGA("Sampled " << sampling.size() << " states.");
-  mNumCandidates = sampling.size();
-  //pass the list to the planner which will take ownership of it and destroy it
-  mPlanner->setInput(sampling);
-}
-
-void
-CompliantPlannerDlg::sampleFace(vec3 x, vec3 y, vec3 z,
-                                double sz1, double sz2, vec3 tln, double res,
-                                std::list<GraspPlanningState *> *sampling)
-{
-  mat3 R;
-  R.col(0) = x;
-  R.col(1) = y;
-  R.col(2) = z;
-  int rotSamples = 2;
-
-  double m1 = (2.0 * sz1 - floor(2.0 * sz1 / res) * res) / 2.0;
-  while (m1 < 2 * sz1) {
-    double m2 = (2.0 * sz2 - floor(2.0 * sz2 / res) * res) / 2.0;
-    while (m2 < 2 * sz2) {
-      vec3 myTln(tln);
-      myTln = myTln + (m1 - sz1) * y;
-      myTln = myTln + (m2 - sz2) * z;
-      transf tr(R, myTln);
-      for (int rot = 0; rot < rotSamples; rot++) {
-        double angle = M_PI * ((double)rot) / rotSamples;
-        Eigen::AngleAxisd aa = Eigen::AngleAxisd(angle, vec3(1, 0, 0));
-        Quaternion q(aa);
-        transf rotTran(q, vec3(0, 0, 0));
-        tr = tr % rotTran;
-        GraspPlanningState *seed = new GraspPlanningState(mHand);
-        seed->setObject(mObject);
-        seed->setRefTran(mObject->getTran(), false);
-        seed->setPostureType(POSE_DOF, false);
-        seed->setPositionType(SPACE_COMPLETE, false);
-        seed->reset();
-        seed->getPosition()->setTran(tr);
-        sampling->push_back(seed);
-      }
-      m2 += res;
-    }
-    m1 += res;
-  }
-}
-
-void
-CompliantPlannerDlg::boxSampling(double a, double b, double c, double res)
-{
-  std::list<GraspPlanningState *> sampling;
-  res = 30;
-  sampleFace(vec3(0, 1, 0), vec3(-1, 0, 0), vec3(0, 0, 1) , a, c, vec3(0, -b, 0), res, &sampling);
-  sampleFace(vec3(0, -1, 0), vec3(1, 0, 0), vec3(0, 0, 1) , a, c, vec3(0, b, 0), res, &sampling);
-
-  sampleFace(vec3(0, 0, 1), vec3(0, 1, 0), vec3(-1, 0, 0) , b, a, vec3(0, 0, -c), res, &sampling);
-  sampleFace(vec3(0, 0, -1), vec3(0, 1, 0), vec3(1, 0, 0) , b, a, vec3(0, 0, c), res, &sampling);
-
-  sampleFace(vec3(1, 0, 0), vec3(0, 1, 0), vec3(0, 0, 1) , b, c, vec3(-a, 0, 0), res, &sampling);
-  sampleFace(vec3(-1, 0, 0), vec3(0, -1, 0), vec3(0, 0, 1) , b, c, vec3(a, 0, 0), res, &sampling);
-
-  DBGA("Sampled " << sampling.size() << " states.");
-  mNumCandidates = sampling.size();
-  mPlanner->setInput(sampling);
-}
-
-void
-CompliantPlannerDlg::testOneButtonClicked()
-{
-  if (energyTypeBox->currentText() == "Quasistatic") {
-    mPlanner->setEnergyType(ENERGY_COMPLIANT);
-  } else if (energyTypeBox->currentText() == "Dynamic") {
-    mPlanner->setEnergyType(ENERGY_DYNAMIC);
-  } else {
-    assert(0);
-  }
-  if (mPlanner->isActive()) {
-    DBGA("Stop planner first!");
-    return;
-  }
-  int num = testOneEdit->text().toInt();
-  if (num < 0 || num >= mNumCandidates) {
-    DBGA("Wrong test number selected");
-    return;
-  }
-  //single tests are always printed out to console
-  mPlanner->setStatStream(&std::cerr);
-  DBGA("Testing pre-grasp #" << num);
-  mPlanner->testState(num);
-  mHand->getWorld()->updateGrasps();
-  graspitCore->getIVmgr()->drawDynamicForces();
-  graspitCore->getIVmgr()->drawUnbalancedForces();
-}
-
-void
-CompliantPlannerDlg::startPlanner()
-{
-  mPlanner->startPlanner();
-}
-
-void
-CompliantPlannerDlg::testButtonClicked()
-{
-  if (energyTypeBox->currentText() == "Quasistatic") {
-    mPlanner->setEnergyType(ENERGY_COMPLIANT);
-  } else if (energyTypeBox->currentText() == "Dynamic") {
-    mPlanner->setEnergyType(ENERGY_DYNAMIC);
-  } else {
-    assert(0);
-  }
-
-  if (mPlanner->isActive()) {
-    DBGA("Pause:");
-    mPlanner->pausePlanner();
-  } else {
-    PROF_RESET(QS_TOTAL);
-    PROF_START_TIMER(QS_TOTAL);
-    mBatch = false;
-    if (mOut) {
-      mPlanner->setStatStream(mOut);
-    } else {
-      mPlanner->setStatStream(&std::cerr);
-    }
-    startPlanner();
-  }
-}
-
-void
-CompliantPlannerDlg::update()
-{
-  QString n1, n2;
-  n1.setNum(mPlanner->getCurrentStep());
-  n2.setNum(mNumCandidates);
-  currentLabel->setText(n1 + "/" + n2);
-}
-
-void
-CompliantPlannerDlg::showResult()
-{
-  int d = mPlanner->getListSize();
-  int rank, size, iteration; double energy;
-
-  if (d == 0) {
-    mBestGraspNum = rank = size = iteration = energy = 0;
-  } else if (mBestGraspNum < 0) {
-    mBestGraspNum = 0;
-  } else if (mBestGraspNum >= d) {
-    mBestGraspNum = d - 1;
-  }
-
-  if (d != 0) {
-    const GraspPlanningState *s = mPlanner->getGrasp(mBestGraspNum);
-    rank = mBestGraspNum + 1;
-    size = d;
-    energy = s->getEnergy();
-    iteration = s->getItNumber();
-  }
-
-  QString n1, n2;
-  n1.setNum(rank);
-  n2.setNum(size);
-  rankLabel->setText("Rank: " + n1 + "/" + n2);
-  n1.setNum(energy, 'f', 3);
-  energyLabel->setText("Energy: " + n1);
-  n1.setNum(iteration);
-  testOneEdit->setText(n1);
-  showOneButtonClicked();
-  iterationLabel->setText("Iteration: " + n1);
-
-}
-
-void
-CompliantPlannerDlg::prevButtonClicked()
-{
-  mBestGraspNum--;
-  showResult();
-}
-void
-CompliantPlannerDlg::nextButtonClicked()
-{
-  mBestGraspNum++;
-  showResult();
-}
-void
-CompliantPlannerDlg::bestButtonClicked()
-{
-  mBestGraspNum = 0;
-  showResult();
-}
-
-void
-CompliantPlannerDlg::showOneButtonClicked()
-{
-  if (mPlanner->isActive()) {
-    DBGA("Stop planner first!");
-    return;
-  }
-  int num = testOneEdit->text().toInt();
-  if (num < 0 || num >= mNumCandidates) {
-    DBGA("Wrong test number selected");
-    return;
-  }
-  DBGA("Testing pre-grasp #" << num);
-  mPlanner->showState(num);
-}
-
-void
-CompliantPlannerDlg::prepareOneButtonClicked()
-{
-  if (mPlanner->isActive()) {
-    DBGA("Stop planner first!");
-    return;
-  }
-  int num = testOneEdit->text().toInt();
-  if (num < 0 || num >= mNumCandidates) {
-    DBGA("Wrong test number selected");
-    return;
-  }
-  DBGA("Testing pre-grasp #" << num);
-  mPlanner->prepareState(num);
-}
-
-void
-CompliantPlannerDlg::visualMarkersBoxClicked()
-{
-  mPlanner->showVisualMarkers(visualMarkersBox->isChecked());
-}
-
-void
-CompliantPlannerDlg::resetObjectButtonClicked()
-{
-  mObject->setTran(mObjectRefTran);
-}
-
-void
-CompliantPlannerDlg::updateOut()
-{
-  if (mOut) {
-    mOut->close();
-    delete mOut; mOut = NULL;
-  }
-  if (resultsBox->currentIndex() == 0) {
-    DBGA("Output to stderr");
-    return;
-  }
-  QString filename("data\\" + resultsFileEdit->text());
-  mOut = new std::fstream(filename.latin1(), std::fstream::out | std::fstream::app);
-  if (mOut->fail()) {
-    DBGA("Failed to open file " << filename.latin1());
-    delete mOut; mOut = NULL;
-    resultsBox->setCurrentItem(0);
-  } else {
-    DBGA("Output file opened: " << filename.latin1());
-  }
-}
-
-void
-CompliantPlannerDlg::designTestButtonClicked()
-{
-  if (!mOut) {
-    DBGA("Set output file first!!!!");
-    return;
-  }
-  mTFrom = tFromEdit->text().toDouble();
-  mTTo = tToEdit->text().toDouble();
-  mTStep = tStepEdit->text().toDouble();
-  mSFrom = sFromEdit->text().toDouble();
-  mSTo = sToEdit->text().toDouble();
-  mSStep = sStepEdit->text().toDouble();
-  DBGA("Starting batch testing");
-  mBatch = true;
-  mTR = mTFrom;
-  mSR = mSFrom;
-  mPlanner->setEnergyType(ENERGY_COMPLIANT);
-  mPlanner->setStatStream(NULL);
-  startPlanner();
-}
-
-void
-CompliantPlannerDlg::plannerFinished()
-{
-  PROF_STOP_TIMER(QS_TOTAL);
-  PROF_PRINT(QS_TOTAL);
-  if (!mBatch) { return; }
-  //write results to file
-  DBGA("Test done: " << mTR << " and " << mSR);
-  if (mOut) {
-    *mOut << mTR << " " << mSR;
-    *mOut << std::endl;
-  }
-  mSR += mSStep;
-  if (mSR > mSTo + 1.0e-2) {
-    mSR = mSFrom;
-    mTR += mTStep;
-    if (mTR > mTTo + 1.0e-2) {
-      mBatch = false;
-      return;
-    }
-  }
-  mPlanner->resetPlanner();
-  startPlanner();
-}
diff --git a/ui/EGPlanner/compliantPlannerDlg.h b/ui/EGPlanner/compliantPlannerDlg.h
deleted file mode 100644
index 06e8c8118f..0000000000
--- a/ui/EGPlanner/compliantPlannerDlg.h
+++ /dev/null
@@ -1,141 +0,0 @@
-//######################################################################
-//
-// GraspIt!
-// Copyright (C) 2002-2009  Columbia University in the City of New York.
-// All rights reserved.
-//
-// GraspIt! is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
-//
-// GraspIt! is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
-//
-// Author(s): Matei T. Ciocarlie
-//
-// $Id: compliantPlannerDlg.h,v 1.8 2009/05/07 19:59:21 cmatei Exp $
-//
-//######################################################################
-
-#ifndef _compliantplannerdlg_h_
-#define _compliantplannerdlg_h_
-
-#include <QDialog>
-#include <list>
-#include <fstream>
-
-#include "ui_compliantPlannerDlg.h"
-
-#include "matvec3D.h"
-
-class ListPlanner;
-class Hand;
-class GraspableBody;
-class GraspPlanningState;
-
-//! Used for running tests with compliant hands
-/*! This dialog is used for running various tests of the compliant hand
-  solver framework. It is not finished, and currently not in a very
-  well-engineered state. It is in bad need of a re-design.
-*/
-class CompliantPlannerDlg : public QDialog, public Ui::CompliantPlannerDlgUI
-{
-    Q_OBJECT
-  private:
-    //! The planner the dialog is using
-    ListPlanner *mPlanner;
-    //! The hand we are planning on
-    Hand *mHand;
-    //! The object we are planning on
-    GraspableBody *mObject;
-    //! The number of candidate grasps that were sampled to be tried out
-    int mNumCandidates;
-    //! The current grasp displayed from the best list
-    int mBestGraspNum;
-    //! The reference position of the target object
-    transf mObjectRefTran;
-    //! The file (if any) that full results are written to
-    std::fstream *mOut;
-
-    //! For batch testing for hand design
-    double mTFrom, mTTo, mTStep, mTR;
-    double mSFrom, mSTo, mSStep, mSR;
-    bool mBatch;
-
-    //!
-    void ellipsoidSampling(double a, double b, double c, double resolution);
-    //!
-    void boxSampling(double a, double b, double c, double res);
-    //!
-    void sampleFace(vec3 x, vec3 y, vec3 z, double sz1, double sz2, vec3 tln, double res,
-                    std::list<GraspPlanningState *> *sampling);
-
-    //! Samples an ellipsoid using a grid-based method to generate pre-grasps.
-    void gridEllipsoidSampling(const GraspPlanningState &seed,
-                               std::list<GraspPlanningState *> *sampling, int samples);
-    //! Helper function for the above
-    void addCartesianSamples(const GraspPlanningState &seed, std::list<GraspPlanningState *> *sampling,
-                             int samples, double x, double y, double z);
-    //! Initialization stuff
-    void init();
-    //! Display one grasp from the result list
-    void showResult();
-    void startPlanner();
-  public:
-    CompliantPlannerDlg(Hand *h, GraspableBody *gb, QWidget *parent = 0) :
-      QDialog(parent), mHand(h), mObject(gb) {
-      setupUi(this);
-      QObject::connect(generateButton, SIGNAL(clicked()),
-                       this, SLOT(generateButtonClicked()));
-      QObject::connect(testButton, SIGNAL(clicked()),
-                       this, SLOT(testButtonClicked()));
-      QObject::connect(testOneButton, SIGNAL(clicked()),
-                       this, SLOT(testOneButtonClicked()));
-      QObject::connect(nextButton, SIGNAL(clicked()),
-                       this, SLOT(nextButtonClicked()));
-      QObject::connect(prevButton, SIGNAL(clicked()),
-                       this, SLOT(prevButtonClicked()));
-      QObject::connect(bestButton, SIGNAL(clicked()),
-                       this, SLOT(bestButtonClicked()));
-      QObject::connect(designTestButton, SIGNAL(clicked()),
-                       this, SLOT(designTestButtonClicked()));
-      QObject::connect(showOneButton, SIGNAL(clicked()),
-                       this, SLOT(showOneButtonClicked()));
-      QObject::connect(prepareOneButton, SIGNAL(clicked()),
-                       this, SLOT(prepareOneButtonClicked()));
-      QObject::connect(visualMarkersBox, SIGNAL(clicked()),
-                       this, SLOT(visualMarkersBoxClicked()));
-      QObject::connect(resetObjectButton, SIGNAL(clicked()),
-                       this, SLOT(resetObjectButtonClicked()));
-      QObject::connect(resultsFileEdit, SIGNAL(editingFinished()),
-                       this, SLOT(updateOut()));
-      QObject::connect(resultsBox, SIGNAL(activated(int)),
-                       this, SLOT(updateOut()));
-      init();
-    }
-    ~CompliantPlannerDlg();
-
-  public Q_SLOTS:
-    void generateButtonClicked();
-    void testButtonClicked();
-    void testOneButtonClicked();
-    void nextButtonClicked();
-    void prevButtonClicked();
-    void bestButtonClicked();
-    void update();
-    void plannerFinished();
-    void showOneButtonClicked();
-    void prepareOneButtonClicked();
-    void visualMarkersBoxClicked();
-    void resetObjectButtonClicked();
-    void designTestButtonClicked();
-    void updateOut();
-};
-
-#endif
diff --git a/ui/EGPlanner/compliantPlannerDlg.ui b/ui/EGPlanner/compliantPlannerDlg.ui
deleted file mode 100644
index 3a0bb13edd..0000000000
--- a/ui/EGPlanner/compliantPlannerDlg.ui
+++ /dev/null
@@ -1,498 +0,0 @@
-<ui version="4.0" >
- <class>CompliantPlannerDlgUI</class>
- <widget class="QDialog" name="CompliantPlannerDlgUI" >
-  <property name="geometry" >
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>246</width>
-    <height>444</height>
-   </rect>
-  </property>
-  <property name="windowTitle" >
-   <string>Compliant Planner</string>
-  </property>
-  <widget class="QPushButton" name="generateButton" >
-   <property name="geometry" >
-    <rect>
-     <x>40</x>
-     <y>10</y>
-     <width>61</width>
-     <height>25</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Generate</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="nextButton" >
-   <property name="geometry" >
-    <rect>
-     <x>90</x>
-     <y>140</y>
-     <width>21</width>
-     <height>25</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>></string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="prevButton" >
-   <property name="geometry" >
-    <rect>
-     <x>40</x>
-     <y>140</y>
-     <width>21</width>
-     <height>25</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>&lt;</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="bestButton" >
-   <property name="geometry" >
-    <rect>
-     <x>60</x>
-     <y>140</y>
-     <width>31</width>
-     <height>25</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Best</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label" >
-   <property name="geometry" >
-    <rect>
-     <x>130</x>
-     <y>110</y>
-     <width>111</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>computation type</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="testButton" >
-   <property name="geometry" >
-    <rect>
-     <x>10</x>
-     <y>40</y>
-     <width>61</width>
-     <height>25</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Test All</string>
-   </property>
-  </widget>
-  <widget class="QLineEdit" name="resolutionEdit" >
-   <property name="geometry" >
-    <rect>
-     <x>10</x>
-     <y>12</y>
-     <width>23</width>
-     <height>20</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string/>
-   </property>
-  </widget>
-  <widget class="QLabel" name="energyLabel" >
-   <property name="geometry" >
-    <rect>
-     <x>120</x>
-     <y>166</y>
-     <width>101</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Energy: 0.00</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="rankLabel" >
-   <property name="geometry" >
-    <rect>
-     <x>120</x>
-     <y>145</y>
-     <width>91</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Rank: 0/0</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="testOneButton" >
-   <property name="geometry" >
-    <rect>
-     <x>60</x>
-     <y>70</y>
-     <width>31</width>
-     <height>25</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Test</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="showOneButton" >
-   <property name="geometry" >
-    <rect>
-     <x>100</x>
-     <y>70</y>
-     <width>41</width>
-     <height>25</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Show</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="prepareOneButton" >
-   <property name="geometry" >
-    <rect>
-     <x>150</x>
-     <y>70</y>
-     <width>41</width>
-     <height>25</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Prep</string>
-   </property>
-  </widget>
-  <widget class="QLineEdit" name="testOneEdit" >
-   <property name="geometry" >
-    <rect>
-     <x>10</x>
-     <y>72</y>
-     <width>41</width>
-     <height>20</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QLabel" name="currentLabel" >
-   <property name="geometry" >
-    <rect>
-     <x>77</x>
-     <y>46</y>
-     <width>101</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>TextLabel</string>
-   </property>
-  </widget>
-  <widget class="QCheckBox" name="visualMarkersBox" >
-   <property name="geometry" >
-    <rect>
-     <x>108</x>
-     <y>14</y>
-     <width>101</width>
-     <height>18</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Visual markers</string>
-   </property>
-  </widget>
-  <widget class="QComboBox" name="energyTypeBox" >
-   <property name="geometry" >
-    <rect>
-     <x>10</x>
-     <y>110</y>
-     <width>111</width>
-     <height>22</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QLabel" name="iterationLabel" >
-   <property name="geometry" >
-    <rect>
-     <x>120</x>
-     <y>190</y>
-     <width>101</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Iteration: 0</string>
-   </property>
-  </widget>
-  <widget class="QWidget" name="layoutWidget" >
-   <property name="geometry" >
-    <rect>
-     <x>120</x>
-     <y>400</y>
-     <width>111</width>
-     <height>33</height>
-    </rect>
-   </property>
-   <layout class="QHBoxLayout" >
-    <property name="spacing" >
-     <number>6</number>
-    </property>
-    <property name="margin" >
-     <number>0</number>
-    </property>
-    <item>
-     <spacer>
-      <property name="orientation" >
-       <enum>Qt::Horizontal</enum>
-      </property>
-      <property name="sizeHint" stdset="0" >
-       <size>
-        <width>131</width>
-        <height>31</height>
-       </size>
-      </property>
-     </spacer>
-    </item>
-    <item>
-     <widget class="QPushButton" name="okButton" >
-      <property name="text" >
-       <string>Close</string>
-      </property>
-     </widget>
-    </item>
-   </layout>
-  </widget>
-  <widget class="QLabel" name="label_2" >
-   <property name="geometry" >
-    <rect>
-     <x>10</x>
-     <y>374</y>
-     <width>61</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Output to:</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="resetObjectButton" >
-   <property name="geometry" >
-    <rect>
-     <x>10</x>
-     <y>400</y>
-     <width>75</width>
-     <height>25</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Reset Object</string>
-   </property>
-  </widget>
-  <widget class="QLineEdit" name="resultsFileEdit" >
-   <property name="geometry" >
-    <rect>
-     <x>152</x>
-     <y>370</y>
-     <width>81</width>
-     <height>20</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QComboBox" name="resultsBox" >
-   <property name="geometry" >
-    <rect>
-     <x>70</x>
-     <y>370</y>
-     <width>71</width>
-     <height>22</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="Line" name="line" >
-   <property name="geometry" >
-    <rect>
-     <x>10</x>
-     <y>210</y>
-     <width>221</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="orientation" >
-    <enum>Qt::Horizontal</enum>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="designTestButton" >
-   <property name="geometry" >
-    <rect>
-     <x>10</x>
-     <y>230</y>
-     <width>75</width>
-     <height>23</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Design Test</string>
-   </property>
-  </widget>
-  <widget class="QLineEdit" name="tFromEdit" >
-   <property name="geometry" >
-    <rect>
-     <x>110</x>
-     <y>260</y>
-     <width>31</width>
-     <height>20</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QLineEdit" name="tToEdit" >
-   <property name="geometry" >
-    <rect>
-     <x>110</x>
-     <y>290</y>
-     <width>31</width>
-     <height>20</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QLineEdit" name="tStepEdit" >
-   <property name="geometry" >
-    <rect>
-     <x>110</x>
-     <y>320</y>
-     <width>31</width>
-     <height>20</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QLineEdit" name="sFromEdit" >
-   <property name="geometry" >
-    <rect>
-     <x>150</x>
-     <y>260</y>
-     <width>31</width>
-     <height>20</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QLineEdit" name="sToEdit" >
-   <property name="geometry" >
-    <rect>
-     <x>150</x>
-     <y>290</y>
-     <width>31</width>
-     <height>20</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QLineEdit" name="sStepEdit" >
-   <property name="geometry" >
-    <rect>
-     <x>150</x>
-     <y>320</y>
-     <width>31</width>
-     <height>20</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_3" >
-   <property name="geometry" >
-    <rect>
-     <x>80</x>
-     <y>260</y>
-     <width>31</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>From</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_4" >
-   <property name="geometry" >
-    <rect>
-     <x>90</x>
-     <y>290</y>
-     <width>16</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>To</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_5" >
-   <property name="geometry" >
-    <rect>
-     <x>80</x>
-     <y>320</y>
-     <width>31</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Step</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_6" >
-   <property name="geometry" >
-    <rect>
-     <x>110</x>
-     <y>230</y>
-     <width>41</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Torque</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_7" >
-   <property name="geometry" >
-    <rect>
-     <x>150</x>
-     <y>230</y>
-     <width>21</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text" >
-    <string>Stiff</string>
-   </property>
-  </widget>
-  <widget class="Line" name="line_2" >
-   <property name="geometry" >
-    <rect>
-     <x>10</x>
-     <y>340</y>
-     <width>221</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="orientation" >
-    <enum>Qt::Horizontal</enum>
-   </property>
-  </widget>
- </widget>
- <resources/>
- <connections>
-  <connection>
-   <sender>okButton</sender>
-   <signal>clicked()</signal>
-   <receiver>CompliantPlannerDlgUI</receiver>
-   <slot>accept()</slot>
-   <hints>
-    <hint type="sourcelabel" >
-     <x>278</x>
-     <y>253</y>
-    </hint>
-    <hint type="destinationlabel" >
-     <x>96</x>
-     <y>254</y>
-    </hint>
-   </hints>
-  </connection>
- </connections>
-</ui>
diff --git a/ui/EGPlanner/listPlannerDlg.cpp b/ui/EGPlanner/listPlannerDlg.cpp
new file mode 100644
index 0000000000..a8fec84c4e
--- /dev/null
+++ b/ui/EGPlanner/listPlannerDlg.cpp
@@ -0,0 +1,429 @@
+//######################################################################
+//
+// GraspIt!
+// Copyright (C) 2002-2009  Columbia University in the City of New York.
+// All rights reserved.
+//
+// GraspIt! is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// GraspIt! is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
+//
+// Author(s): Matei T. Ciocarlie
+//
+// $Id: compliantPlannerDlg.cpp,v 1.14 2009/07/02 21:04:05 cmatei Exp $
+//
+//######################################################################
+
+#include "listPlannerDlg.h"
+
+#include <iostream>
+
+#include <Inventor/actions/SoGetBoundingBoxAction.h>
+
+#include <QIntValidator>
+
+//#define GRASPITDBG
+#include "debug.h"
+
+//#define PROF_ENABLED
+#include "profiling.h"
+
+PROF_DECLARE(QS_TOTAL);
+
+//for the bounding box and drawing forces
+#include "graspitCore.h"
+#include "ivmgr.h"
+
+//for debug
+#include "world.h"
+
+#include "robot.h"
+#include "body.h"
+#include "grasp.h"
+#include "listPlanner.h"
+#include "searchState.h"
+
+void
+ListPlannerDlg::init()
+{
+	mPlanner = new ListPlanner(mHand);
+    energyTypeBox->insertItem("AutoGrasp");
+	energyTypeBox->insertItem("Quasistatic");
+    samplingTypeBox->insertItem("Ellipsoid");
+    samplingTypeBox->insertItem("Grid");
+	mPlanner->setRenderType(RENDER_ALWAYS);
+	mPlanner->setStatStream(&std::cerr);
+	mOut = NULL;
+	mHand->getGrasp()->setObjectNoUpdate(mObject);
+	mObjectRefTran = mObject->getTran();
+	QObject::connect(mPlanner, SIGNAL(update()), this, SLOT(update()));
+	QObject::connect(mPlanner, SIGNAL(finished()), this, SLOT(plannerFinished()));
+	mNumCandidates = 0;
+	currentLabel->setText("0/0");
+	QIntValidator* val = new QIntValidator(2, 99, this);
+	resolutionEdit->setValidator(val);
+    resolutionEdit->setText("3");;
+	resultsBox->insertItem("console");
+	resultsBox->insertItem("file:");
+	resultsFileEdit->setText("comp_plan.txt");
+
+}
+
+ListPlannerDlg::~ListPlannerDlg()
+{
+	if (mOut) {
+		mOut->close();
+		delete mOut;
+	}
+	delete mPlanner;
+}
+
+void 
+ListPlannerDlg::addCartesianSamples(const GraspPlanningState &seed,
+										 std::list<GraspPlanningState*> *sampling, 
+										 int samples, double x, double y, double z)
+{
+	//redundant, but easier...
+	double a = seed.readPosition()->getParameter("a");
+	double b = seed.readPosition()->getParameter("b");
+	//double c = seed.readPosition()->getParameter("c");
+	//compute angular values
+	//from HandObjectStateImpl:
+	//x =  a * cos(beta) * cos(gamma);
+	//y =  b * cos(beta) * sin(gamma);
+	//z =  c * sin(beta);
+	double beta = asin(z / sqrt(x*x + y*y + z*z));
+	double gamma = atan2(y/b, x/a);
+	DBGP("x: " << x << "; y: " << y <<"; z: " << z);
+	DBGP("gamma: " << gamma << "; beta: " << beta);
+	//sample roll angle as well
+	for (int m=0; m<samples; m++) {
+		//only sample from 0 to almost PI, as the HH is symmetric
+		double tau = M_PI * ((double)m) / samples;
+		GraspPlanningState *newState = new GraspPlanningState(&seed);
+		newState->getPosition()->getVariable("tau")->setValue(tau);
+		newState->getPosition()->getVariable("gamma")->setValue(gamma);
+		newState->getPosition()->getVariable("beta")->setValue(beta);
+		sampling->push_back(newState);
+	}
+}
+
+/*! Samples an ellipsoid by sampling uniformly a grid with the same aspect
+	ratio and projecting the resulting points on the ellipsoid. Not ideal,
+	but at least much better then sampling angular variables directly */
+void 
+ListPlannerDlg::gridEllipsoidSampling(const GraspPlanningState &seed,
+										   std::list<GraspPlanningState*> *sampling, 
+										   int samples)
+{
+	double a = seed.readPosition()->getParameter("a");
+	double aRes = 2.0 * a / samples;
+	double b = seed.readPosition()->getParameter("b");
+	double bRes = 2.0 * b / samples;
+	double c = seed.readPosition()->getParameter("c");
+	double cRes = 2.0 * c / samples;
+	DBGP("a: " << a << "; b: " << b <<"; c: " << c);
+
+	for (double i=0.5; i<samples; i+=1.0) {
+		for(double j=0.5; j<samples; j+=1.0) {
+			addCartesianSamples(seed, sampling, samples,  a, -b+i*bRes, -c+j*cRes);
+			addCartesianSamples(seed, sampling, samples, -a, -b+i*bRes, -c+j*cRes);
+			addCartesianSamples(seed, sampling, samples, -a+i*aRes, b , -c+j*cRes);
+			addCartesianSamples(seed, sampling, samples, -a+i*aRes,-b , -c+j*cRes);
+			addCartesianSamples(seed, sampling, samples, -a+i*aRes, -b+j*bRes , c);
+			addCartesianSamples(seed, sampling, samples, -a+i*aRes, -b+j*bRes ,-c);
+		}
+	}
+}
+
+void
+ListPlannerDlg::generateButtonClicked()
+{
+	int resolution = resolutionEdit->text().toInt();
+	if (resolution < 1) {
+		DBGA("Resolution must be at least 1");
+		return;
+	}
+	//get object bbox dimensions
+	SoGetBoundingBoxAction *bba = 
+		new SoGetBoundingBoxAction(graspitCore->getIVmgr()->getViewer()->getViewportRegion());
+	bba->apply(mObject->getIVGeomRoot());
+	SbVec3f bbmin,bbmax;
+	bba->getBoundingBox().getBounds(bbmin,bbmax);
+	delete bba;
+	double a = 0.5*(bbmax[0] - bbmin[0]);
+	double b = 0.5*(bbmax[1] - bbmin[1]);
+	double c = 0.5*(bbmax[2] - bbmin[2]);
+
+    if (samplingTypeBox->currentText() == "Grid") {
+        boxSampling(a,b,c, resolution);
+    } else if (samplingTypeBox->currentText() == "Ellipsoid") {
+        ellipsoidSampling(a,b,c,resolution);
+    } else {
+        DBGA("Invalid Sampling Type");
+        assert(0);
+    }
+    mPlanner->showVisualMarkers( true);
+
+	mPlanner->resetPlanner();
+
+	update();
+}
+
+void 
+ListPlannerDlg::ellipsoidSampling(double a, double b, double c, double resolution)
+{
+	//generate a list of grasps by sampling an ellipsoid around the object
+	GraspPlanningState seed(mHand);
+	seed.setObject(mObject);
+	//todo: should use bbox center as reference frame, not object origin
+	//which could be anything
+	seed.setRefTran(mObject->getTran(), false);
+	seed.setPostureType(POSE_DOF, false);
+	seed.setPositionType(SPACE_ELLIPSOID, false);
+	seed.reset();
+
+	//set ellipsoid parameters
+	seed.getPosition()->setParameter("a", a);
+	seed.getPosition()->setParameter("b", b);
+	seed.getPosition()->setParameter("c", c);
+	//we don't want to sample distance
+	seed.getPosition()->getVariable("dist")->setValue(0.0);
+	seed.getPosition()->getVariable("dist")->setFixed(true);
+	//create a list of earch states that sample the variables of the seed
+	std::list<GraspPlanningState*> sampling;
+	//uniform sampling of variables. Creates a horrible sampling.
+	//createPositionSpaceSampling(seed, &sampling, resolution);
+	//grid based sampling. Does somewhat better.
+	gridEllipsoidSampling(seed, &sampling, resolution);
+	DBGA("Sampled " << sampling.size() << " states.");
+	mNumCandidates = sampling.size();
+	//pass the list to the planner which will take ownership of it and destroy it
+	mPlanner->setInput(sampling);
+}
+
+void
+ListPlannerDlg::sampleFace(vec3 x, vec3 y, vec3 z,
+								double sz1, double sz2, vec3 tln, double res,
+								std::list<GraspPlanningState*> *sampling)
+{
+    mat3 R;
+    R.col(0) = x;
+    R.col(0) = y;
+    R.col(0) = z;
+	int rotSamples=2;
+
+	double m1 = (2.0*sz1 - floor(2.0*sz1 / res) * res)/2.0;
+	while (m1 < 2*sz1){
+		double m2 = (2.0*sz2 - floor(2.0*sz2 / res) * res)/2.0;
+		while (m2 < 2*sz2) {
+			vec3 myTln(tln);
+			myTln = myTln + (m1 - sz1)* y;
+			myTln = myTln + (m2 - sz2)* z;
+			transf tr(R, myTln);
+			for(int rot=0; rot < rotSamples; rot++) {
+				double angle = M_PI * ((double)rot) / rotSamples;
+                transf rotTran = transf::AXIS_ANGLE_ROTATION(angle, vec3(1,0,0));
+                tr = tr % rotTran;
+				GraspPlanningState* seed = new GraspPlanningState(mHand);
+				seed->setObject(mObject);
+				seed->setRefTran(mObject->getTran(), false);
+				seed->setPostureType(POSE_DOF, false);
+				seed->setPositionType(SPACE_COMPLETE, false);
+				seed->reset();
+				seed->getPosition()->setTran(tr);
+				sampling->push_back(seed);
+			}
+			m2+=res;
+		}
+		m1 += res;
+	}
+}
+
+void 
+ListPlannerDlg::boxSampling(double a, double b, double c, double res)
+{
+	std::list<GraspPlanningState*> sampling;
+	res = 30;
+	sampleFace( vec3(0, 1,0), vec3(-1,0,0), vec3(0,0,1) , a, c, vec3(0,-b,0), res, &sampling);
+	sampleFace( vec3(0,-1,0), vec3( 1,0,0), vec3(0,0,1) , a, c, vec3(0, b,0), res, &sampling);
+
+	sampleFace( vec3(0,0, 1), vec3(0,1,0), vec3(-1,0,0) , b, a, vec3(0,0,-c), res, &sampling);
+	sampleFace( vec3(0,0,-1), vec3(0,1,0), vec3( 1,0,0) , b, a, vec3(0,0, c), res, &sampling);
+
+	sampleFace( vec3( 1,0,0), vec3(0, 1,0), vec3(0,0,1) , b, c, vec3(-a,0,0), res, &sampling);
+	sampleFace( vec3(-1,0,0), vec3(0,-1,0), vec3(0,0,1) , b, c, vec3( a,0,0), res, &sampling);
+
+	DBGA("Sampled " << sampling.size() << " states.");
+	mNumCandidates = sampling.size();
+	mPlanner->setInput(sampling);
+}
+
+void
+ListPlannerDlg::startPlanner()
+{
+	mPlanner->startPlanner();
+}
+
+void
+ListPlannerDlg::testButtonClicked()
+{
+	if (energyTypeBox->currentText() == "Quasistatic") {
+		mPlanner->setEnergyType(ENERGY_COMPLIANT);
+    } else if (energyTypeBox->currentText() == "AutoGrasp") {
+        mPlanner->setEnergyType(ENERGY_STRICT_AUTOGRASP);
+	} else {
+		assert(0);
+	}
+
+	if (mPlanner->isActive()) {
+		DBGA("Pause:");
+		mPlanner->pausePlanner();
+	} else {
+		PROF_RESET(QS_TOTAL);
+		PROF_START_TIMER(QS_TOTAL);
+		mBatch = false;
+		if (mOut) {
+			mPlanner->setStatStream(mOut);
+		} else {
+			mPlanner->setStatStream(&std::cerr);
+		}
+		startPlanner();
+	}
+}
+
+void
+ListPlannerDlg::update()
+{
+	QString n1,n2;
+	n1.setNum(mPlanner->getCurrentStep());
+	n2.setNum(mNumCandidates);
+	currentLabel->setText(n1 + "/" + n2);
+}
+
+void
+ListPlannerDlg::showResult()
+{
+	int d = mPlanner->getListSize();
+	int rank, size, iteration; double energy;
+
+	if (d==0) {
+        mBestGraspNum = rank = size = iteration = energy = 0;
+	} else if (mBestGraspNum < 0){
+		mBestGraspNum = 0;
+	} else if ( mBestGraspNum >= d) {
+		mBestGraspNum = d-1;
+	} 
+ 
+	if ( d!=0 ){
+		const GraspPlanningState *s = mPlanner->getGrasp(mBestGraspNum);
+		mPlanner->showFinalState(mBestGraspNum);
+		rank = mBestGraspNum+1;
+		size = d;
+		energy = s->getEnergy();
+		iteration = s->getItNumber();
+	}
+
+	QString n1,n2;
+	n1.setNum(rank);
+	n2.setNum(size);
+	rankLabel->setText("Rank: " + n1 + "/" + n2);
+	n1.setNum(energy,'f',3);
+	energyLabel->setText("Energy: " + n1);
+	n1.setNum(iteration);
+	showOne();
+	iterationLabel->setText("Iteration: " + n1);
+
+}
+
+void
+ListPlannerDlg::showOne()
+{
+    if (mPlanner->isActive()) {
+        DBGA("Stop planner first!");
+        return;
+    }
+    int num = mBestGraspNum;
+    if (num < 0 || num >= mNumCandidates) {
+        DBGA("Wrong test number selected");
+        return;
+    }
+    DBGA("Showing Planned Grasp #" << num);
+    mPlanner->showFinalState(num);
+}
+
+void
+ListPlannerDlg::prevButtonClicked()
+{
+	mBestGraspNum--;
+	showResult();
+}
+void
+ListPlannerDlg::nextButtonClicked()
+{
+	mBestGraspNum++;
+	showResult();
+}
+void
+ListPlannerDlg::bestButtonClicked()
+{
+	mBestGraspNum=0;
+	showResult();
+}
+
+
+void
+ListPlannerDlg::updateOut()
+{
+	if (mOut) {
+		mOut->close();
+		delete mOut; mOut = NULL;
+	}
+	if (resultsBox->currentIndex()==0) {
+		DBGA("Output to stderr");
+		return;
+	}
+	QString filename("data\\" + resultsFileEdit->text());
+	mOut = new std::fstream(filename.latin1(), std::fstream::out | std::fstream::app);
+	if (mOut->fail()) {
+		DBGA("Failed to open file " << filename.latin1());
+		delete mOut; mOut = NULL;
+		resultsBox->setCurrentItem(0);
+	} else {
+		DBGA("Output file opened: " << filename.latin1());
+	}
+}
+
+void
+ListPlannerDlg::plannerFinished()
+{
+	PROF_STOP_TIMER(QS_TOTAL);
+	PROF_PRINT(QS_TOTAL);
+	if (!mBatch) return;
+	//write results to file
+	DBGA("Test done: " << mTR << " and " << mSR);
+	if (mOut) {
+		*mOut << mTR << " " << mSR;
+		*mOut << std::endl;
+	}
+	mSR += mSStep;
+	if (mSR > mSTo + 1.0e-2) {
+		mSR = mSFrom;
+		mTR += mTStep;
+		if (mTR > mTTo + 1.0e-2) {
+			mBatch = false;
+			return;
+		}
+	}
+	mPlanner->resetPlanner();
+	startPlanner();
+}
diff --git a/ui/EGPlanner/listPlannerDlg.h b/ui/EGPlanner/listPlannerDlg.h
new file mode 100644
index 0000000000..aee647a27a
--- /dev/null
+++ b/ui/EGPlanner/listPlannerDlg.h
@@ -0,0 +1,124 @@
+//######################################################################
+//
+// GraspIt!
+// Copyright (C) 2002-2009  Columbia University in the City of New York.
+// All rights reserved.
+//
+// GraspIt! is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// GraspIt! is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
+//
+// Author(s): Matei T. Ciocarlie
+//
+// $Id: compliantPlannerDlg.h,v 1.8 2009/05/07 19:59:21 cmatei Exp $
+//
+//######################################################################
+
+#ifndef _compliantplannerdlg_h_
+#define _compliantplannerdlg_h_
+
+#include <QDialog>
+#include <list>
+#include <fstream>
+
+#include "ui_listPlannerDlg.h"
+
+#include "matvec3D.h"
+
+class ListPlanner;
+class Hand;
+class GraspableBody;
+class GraspPlanningState;
+
+//! Used for uniformly sampling approach directions around an object
+/*! This dialog is used for running various tests of the compliant hand
+	solver framework. It is not finished, and currently not in a very
+	well-engineered state. It is in bad need of a re-design.
+*/
+class ListPlannerDlg : public QDialog, public Ui::ListPlannerDlgUI
+{
+	Q_OBJECT
+private:
+	//! The planner the dialog is using
+	ListPlanner *mPlanner;
+	//! The hand we are planning on
+	Hand *mHand;
+	//! The object we are planning on
+	GraspableBody *mObject;
+	//! The number of candidate grasps that were sampled to be tried out
+	int mNumCandidates;
+	//! The current grasp displayed from the best list
+	int mBestGraspNum;
+	//! The reference position of the target object
+	transf mObjectRefTran;
+	//! The file (if any) that full results are written to
+	std::fstream *mOut;
+
+	//! For batch testing for hand design
+	double mTFrom, mTTo, mTStep, mTR;
+	double mSFrom, mSTo, mSStep, mSR;
+	bool mBatch;
+
+	//!
+	void ellipsoidSampling(double a, double b, double c, double resolution);
+	//!
+	void boxSampling(double a, double b, double c, double res);
+	//!
+	void sampleFace(vec3 x, vec3 y, vec3 z, double sz1, double sz2, vec3 tln, double res,
+					std::list<GraspPlanningState*> *sampling);
+
+	//! Samples an ellipsoid using a grid-based method to generate pre-grasps.
+	void gridEllipsoidSampling(const GraspPlanningState &seed,
+						       std::list<GraspPlanningState*> *sampling, int samples);
+	//! Helper function for the above
+	void addCartesianSamples(const GraspPlanningState &seed, std::list<GraspPlanningState*> *sampling, 
+							 int samples, double x, double y, double z);
+	//! Initialization stuff
+	void init();
+	//! Display one grasp from the result list
+	void showResult();
+	void startPlanner();
+public:
+    ListPlannerDlg(Hand *h, GraspableBody *gb, QWidget *parent = 0) :
+	    QDialog(parent), mHand(h), mObject(gb) {
+		setupUi(this);
+		QObject::connect(generateButton, SIGNAL(clicked()), 
+						 this, SLOT(generateButtonClicked()));
+		QObject::connect(testButton, SIGNAL(clicked()), 
+						 this, SLOT(testButtonClicked()));
+		QObject::connect(nextButton, SIGNAL(clicked()), 
+						 this, SLOT(nextButtonClicked()));
+		QObject::connect(prevButton, SIGNAL(clicked()), 
+						 this, SLOT(prevButtonClicked()));
+		QObject::connect(bestButton, SIGNAL(clicked()), 
+						 this, SLOT(bestButtonClicked()));
+		QObject::connect(resultsFileEdit, SIGNAL(editingFinished()),
+						 this, SLOT(updateOut()));
+		QObject::connect(resultsBox, SIGNAL(activated(int)), 
+						 this, SLOT(updateOut()));
+		init();
+	}
+    ~ListPlannerDlg();
+
+public Q_SLOTS:
+	void generateButtonClicked();
+	void testButtonClicked();
+	void nextButtonClicked();
+	void prevButtonClicked();
+	void bestButtonClicked();
+    void showOne();
+	void update();
+	void plannerFinished();
+	void updateOut();
+};
+
+#endif
diff --git a/ui/EGPlanner/listPlannerDlg.ui b/ui/EGPlanner/listPlannerDlg.ui
new file mode 100644
index 0000000000..23ca20dc84
--- /dev/null
+++ b/ui/EGPlanner/listPlannerDlg.ui
@@ -0,0 +1,357 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ListPlannerDlgUI</class>
+ <widget class="QDialog" name="ListPlannerDlgUI">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>404</width>
+    <height>499</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>List Planner</string>
+  </property>
+  <widget class="QPushButton" name="generateButton">
+   <property name="geometry">
+    <rect>
+     <x>80</x>
+     <y>80</y>
+     <width>221</width>
+     <height>25</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Generate Approach Directions</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="nextButton">
+   <property name="geometry">
+    <rect>
+     <x>160</x>
+     <y>280</y>
+     <width>21</width>
+     <height>25</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>&gt;</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="prevButton">
+   <property name="geometry">
+    <rect>
+     <x>80</x>
+     <y>280</y>
+     <width>21</width>
+     <height>25</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>&lt;</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="bestButton">
+   <property name="geometry">
+    <rect>
+     <x>110</x>
+     <y>280</y>
+     <width>41</width>
+     <height>25</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Best</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>210</x>
+     <y>150</y>
+     <width>131</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>computation type</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="testButton">
+   <property name="geometry">
+    <rect>
+     <x>80</x>
+     <y>190</y>
+     <width>221</width>
+     <height>25</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Test All Approach Dircections</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="resolutionEdit">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>15</y>
+     <width>31</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string/>
+   </property>
+  </widget>
+  <widget class="QLabel" name="energyLabel">
+   <property name="geometry">
+    <rect>
+     <x>190</x>
+     <y>286</y>
+     <width>121</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Energy: 0.00</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="rankLabel">
+   <property name="geometry">
+    <rect>
+     <x>190</x>
+     <y>265</y>
+     <width>111</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Rank: 0/0</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="currentLabel">
+   <property name="geometry">
+    <rect>
+     <x>130</x>
+     <y>220</y>
+     <width>101</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>TextLabel</string>
+   </property>
+  </widget>
+  <widget class="QComboBox" name="energyTypeBox">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>140</y>
+     <width>141</width>
+     <height>31</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="iterationLabel">
+   <property name="geometry">
+    <rect>
+     <x>190</x>
+     <y>310</y>
+     <width>121</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Iteration: 0</string>
+   </property>
+  </widget>
+  <widget class="QWidget" name="layoutWidget">
+   <property name="geometry">
+    <rect>
+     <x>280</x>
+     <y>450</y>
+     <width>111</width>
+     <height>33</height>
+    </rect>
+   </property>
+   <layout class="QHBoxLayout">
+    <property name="spacing">
+     <number>6</number>
+    </property>
+    <property name="leftMargin">
+     <number>0</number>
+    </property>
+    <property name="topMargin">
+     <number>0</number>
+    </property>
+    <property name="rightMargin">
+     <number>0</number>
+    </property>
+    <property name="bottomMargin">
+     <number>0</number>
+    </property>
+    <item>
+     <widget class="QPushButton" name="okButton">
+      <property name="text">
+       <string>Close</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <spacer>
+      <property name="orientation">
+       <enum>Qt::Horizontal</enum>
+      </property>
+      <property name="sizeHint" stdset="0">
+       <size>
+        <width>131</width>
+        <height>31</height>
+       </size>
+      </property>
+     </spacer>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>80</x>
+     <y>370</y>
+     <width>91</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Output to:</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="resultsFileEdit">
+   <property name="geometry">
+    <rect>
+     <x>70</x>
+     <y>400</y>
+     <width>201</width>
+     <height>21</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QComboBox" name="resultsBox">
+   <property name="geometry">
+    <rect>
+     <x>170</x>
+     <y>361</y>
+     <width>111</width>
+     <height>31</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_3">
+   <property name="geometry">
+    <rect>
+     <x>60</x>
+     <y>20</y>
+     <width>161</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Sampling Resolution</string>
+   </property>
+  </widget>
+  <widget class="Line" name="line_4">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>110</y>
+     <width>381</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="orientation">
+    <enum>Qt::Horizontal</enum>
+   </property>
+  </widget>
+  <widget class="Line" name="line_6">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>420</y>
+     <width>381</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="orientation">
+    <enum>Qt::Horizontal</enum>
+   </property>
+  </widget>
+  <widget class="Line" name="line_7">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>330</y>
+     <width>381</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="orientation">
+    <enum>Qt::Horizontal</enum>
+   </property>
+  </widget>
+  <widget class="Line" name="line_8">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>240</y>
+     <width>381</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="orientation">
+    <enum>Qt::Horizontal</enum>
+   </property>
+  </widget>
+  <widget class="QComboBox" name="samplingTypeBox">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>40</y>
+     <width>141</width>
+     <height>31</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_4">
+   <property name="geometry">
+    <rect>
+     <x>180</x>
+     <y>50</y>
+     <width>131</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Sampling Method</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>okButton</sender>
+   <signal>clicked()</signal>
+   <receiver>ListPlannerDlgUI</receiver>
+   <slot>accept()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>278</x>
+     <y>253</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>96</x>
+     <y>254</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>
diff --git a/ui/mainWindow.cpp b/ui/mainWindow.cpp
index 33540e2a70..4554e35893 100644
--- a/ui/mainWindow.cpp
+++ b/ui/mainWindow.cpp
@@ -60,7 +60,7 @@
 #include "gwsProjDlg.h"
 #include "plannerdlg.h"
 #include "eigenGraspDlg.h"
-#include "compliantPlannerDlg.h"
+#include "listPlannerDlg.h"
 #include "gfoDlg.h"
 #include "contactExaminerDlg.h"
 #include "egPlannerDlg.h"
@@ -109,6 +109,7 @@ MainWindow::MainWindow(QWidget *parent)
                    this, SLOT(updateCollisionAction(bool)));
   QObject::connect(mUI->elementBodyPropertiesAction, SIGNAL(activated()),
                    this, SLOT(elementBodyProperties()));
+
   // -- grasp menu, part I
   QObject::connect(mUI->graspAutoGraspAction, SIGNAL(triggered()), this, SLOT(graspAutoGrasp()));
   QObject::connect(mUI->graspAuto_OpenAction, SIGNAL(triggered()), this, SLOT(graspAutoOpen()));
@@ -123,6 +124,9 @@ MainWindow::MainWindow(QWidget *parent)
                    this, SLOT(graspContactExaminer_activated()));
   QObject::connect(mUI->graspEigenGrasp_PlannerAction, SIGNAL(triggered()),
                    this, SLOT(eigenGraspPlannerActivated()));
+  QObject::connect(mUI->graspListPlannerAction, SIGNAL(triggered()),
+                   this, SLOT(graspListPlannerActivated()));
+
   // -- dbase menu
   QObject::connect(mUI->dbaseGUIAction, SIGNAL(triggered()),
                    this, SLOT(dbaseGUIAction_activated()));
@@ -577,7 +581,8 @@ void MainWindow::updateElementMenu()
 */
 void MainWindow::updateGraspMenu()
 {
-  bool handFound = (world->getCurrentHand() != NULL);
+
+  bool handFound = (world->getCurrentHand() !=NULL);
   bool bodyFound = (world->getNumBodies() != 0);
   mUI->graspAutoGraspAction->setEnabled(handFound);
   mUI->graspAuto_OpenAction->setEnabled(handFound);
@@ -588,7 +593,8 @@ void MainWindow::updateGraspMenu()
   mUI->graspEigenGrasp_InterfaceAction->setEnabled(handFound);
   mUI->graspContact_ExaminerAction->setEnabled(bodyFound);
   mUI->graspEigenGrasp_PlannerAction->setEnabled(handFound);
-  mUI->graspCompliantPlannerAction->setEnabled(handFound);
+  mUI->graspListPlannerAction->setEnabled(handFound);
+
 #ifdef CGDB_ENABLED
   mUI->dbaseGUIAction->setEnabled(handFound);
   mUI->dbasePlannerAction->setEnabled(handFound);
@@ -693,15 +699,17 @@ MainWindow::graspForceOptimization()
   this interface might be redesigned, to use the same frameworks as either the
   regular planner or the eigengrasp planner
 */
-void MainWindow::graspCompliantPlanner()
-{
+
+void MainWindow::graspListPlannerActivated()
+{	
   int gb = mUI->graspedBodyBox->currentItem();
   if (gb < 0 || world->getNumGB() < gb + 1) {
     fprintf(stderr, "No object selected\n");
     return;
   }
-  CompliantPlannerDlg *dlg = new CompliantPlannerDlg(world->getCurrentHand(),
-                                                     world->getGB(gb), mWindow);
+
+  ListPlannerDlg *dlg =new ListPlannerDlg(world->getCurrentHand(),
+                                                    world->getGB(gb), mWindow);
   dlg->setAttribute(Qt::WA_ShowModal, false);
   dlg->setAttribute(Qt::WA_DeleteOnClose, true);
   dlg->show();
diff --git a/ui/mainWindow.h b/ui/mainWindow.h
index 1378f18ce9..85d13bc35d 100644
--- a/ui/mainWindow.h
+++ b/ui/mainWindow.h
@@ -24,20 +24,20 @@
 //######################################################################
 
 //
-// $Header:
+// $Header: 
 //
 
-/*! \file
-  \brief Implements the UI functions and Q_SLOTS for the main window.
+/*! \file 
+  \brief Implements the UI functions and Q_SLOTS for the main window. 
  */
 
 /*!
   \class MainWindow
-  \brief Main user interface, includes menus, tools, widget for viewer, etc.
-
+  \brief Main user interface, includes menus, tools, widget for viewer, etc. 
+  
   This class is derived from the QT mainWindow widget.  It creates
   the main application window which includes the menu bar, tool bar, main
-  viewer window, quality measure result box, and the contacts list box.
+  viewer window, quality measure result box, and the contacts list box.  
 
 */
 
@@ -54,103 +54,103 @@ class Grasp;
 
 class MainWindow : public QObject
 {
-    Q_OBJECT
-  private:
+	Q_OBJECT
+private:
     World *world;
     QString fileName;
     int selectedContact;
 
-    void init();
-    void destroy();
-    void destroyChildren();
-  public:
-    Ui::MainWindowUI *mUI;
-    Q3MainWindow *mWindow;
+	void init();
+	void destroy();
+	void destroyChildren();
+public:
+	Ui::MainWindowUI *mUI;
+	Q3MainWindow *mWindow;
 
-    MainWindow(QWidget *parent = 0);
-    virtual ~MainWindow() {
-      destroy();
-      delete mWindow;
-      delete mUI;
-    }
-    void setMainWorld(World *w);
-    World *getMainWorld() {return world;}
+	MainWindow(QWidget *parent = 0);
+	virtual ~MainWindow(){
+		destroy();
+		delete mWindow;
+		delete mUI;
+	}
+	void setMainWorld( World *w );
+        World* getMainWorld(){return world;}                                     
 
-  public Q_SLOTS:
-    //-------------
-    void fileNew();
-    void fileOpen();
-    void fileSave();
-    void fileSaveAs();
-    void fileImportRobot();
-    void fileImportObstacle();
-    void fileImportObject();
-    void fileEditSettings();
-    void fileExit();
-    void fileSaveImage();
-    int saveAndContinue(const QString &action);
-    //-------------
-    void helpManual();
-    void helpAbout();
-    void helpAboutQT();
-    //-------------
-    void setTool(QAction *a);
-    void elementTurnOffCollisions();
-    void elementBodyProperties();
-    void elementPrimitives();
-    void updateElementMenu();
-    //-------------
-    void graspAutoGrasp();
-    void graspAutoOpen();
-    void graspQualityMeasures();
-    void graspCreateProjection(Grasp *g = NULL);
-    void graspForceOptimization();
-    void graspPlanner();
-    void updateGraspMenu();
-    //-------------
-    void eigenGraspActivated();
-    void graspContactExaminer_activated();
-    void eigenGraspPlannerActivated();
-    void graspCompliantPlanner();
-    //-------------
-    void dbaseGUIAction_activated();
-    void dbasePlannerAction_activated();
-    void graspCapture();
-    //-------------
-    void sensorsSensor_InputAction_activated();
-    void sensorsBarrettHandAction();
-    //-------------
-    void stereoOn();
-    void stereoOff();
-    void stereoFlip();
-    //-------------
-    void archBuilder();
-    //-------------
-    void updateContactsList();
-    void contactSelected(int newSelection);
-    void clearContactsList();
-    void updateQualityList();
-    //--------------
-    void updateTimeReadout();
-    void toggleDynamics();
-    void showDynamicsError(const char *errMsg);
-    void dynamicsPushState();
-    void dynamicsPopState();
-    //--------------
-    void updateMaterialBoxList();
-    void materialSelected(int whichMat);
-    void updateMaterialBox();
-    void updateGraspBoxes();
-    void handleHandSelectionChange();
-    void selectGraspedBody(int sb);
-    void setCurrentHand(int sh);
-    void updateCollisionAction(bool state);
-    //---------------
-    void updateTendonNamesBox();
-    void handleTendonSelectionArea();
-    void handleTendonDetailsArea();
-    void TendonForceInput_valueChanged(int f);
-    void tendonNamesBoxActivated(int i);
-    void tendonVisibleCheckBox_toggled(bool vis);
-    void forcesVisibleCheckBox_toggled(bool vis);
+public Q_SLOTS:
+	//-------------
+	void fileNew();
+	void fileOpen();
+	void fileSave();
+	void fileSaveAs();
+	void fileImportRobot();
+	void fileImportObstacle();
+	void fileImportObject();
+	void fileEditSettings();
+	void fileExit();
+	void fileSaveImage();
+	int saveAndContinue(const QString & action);
+	//-------------
+	void helpManual();
+	void helpAbout();
+	void helpAboutQT();
+	//-------------
+	void setTool( QAction *a );
+	void elementTurnOffCollisions();
+	void elementBodyProperties();
+	void elementPrimitives();
+	void updateElementMenu();
+	//-------------
+	void graspAutoGrasp();
+	void graspAutoOpen();
+	void graspQualityMeasures();
+	void graspCreateProjection(Grasp* g = NULL);
+	void graspForceOptimization();
+	void graspPlanner();
+	void updateGraspMenu();
+	//-------------
+	void eigenGraspActivated();
+	void graspContactExaminer_activated();
+	void eigenGraspPlannerActivated();
+    void graspListPlannerActivated();
+	//-------------
+	void dbaseGUIAction_activated();
+	void dbasePlannerAction_activated();
+	void graspCapture();
+	//-------------
+	void sensorsSensor_InputAction_activated();
+	void sensorsBarrettHandAction();
+	//-------------
+	void stereoOn();
+	void stereoOff();
+	void stereoFlip();
+	//-------------
+	void archBuilder();
+	//-------------
+	void updateContactsList();
+	void contactSelected(int newSelection);
+	void clearContactsList();
+	void updateQualityList();
+	//--------------
+	void updateTimeReadout();
+	void toggleDynamics();
+	void showDynamicsError( const char *errMsg );
+	void dynamicsPushState();
+	void dynamicsPopState();
+	//--------------
+	void updateMaterialBoxList();
+	void materialSelected( int whichMat );
+	void updateMaterialBox();
+	void updateGraspBoxes();
+	void handleHandSelectionChange();
+	void selectGraspedBody(int sb);
+	void setCurrentHand( int sh );
+	void updateCollisionAction(bool state);
+	//---------------
+	void updateTendonNamesBox();
+	void handleTendonSelectionArea();
+	void handleTendonDetailsArea();
+	void TendonForceInput_valueChanged( int f);
+	void tendonNamesBoxActivated( int i);
+	void tendonVisibleCheckBox_toggled( bool vis);
+	void forcesVisibleCheckBox_toggled( bool vis);
 };
diff --git a/ui/mainWindow.ui b/ui/mainWindow.ui
index 619ec047e3..a9fd23e678 100644
--- a/ui/mainWindow.ui
+++ b/ui/mainWindow.ui
@@ -434,6 +434,7 @@
         <addaction name="separator" />
         <addaction name="graspEigenGrasp_InterfaceAction" />
         <addaction name="graspEigenGrasp_PlannerAction" />
+        <addaction name="graspListPlannerAction" />
         <addaction name="graspContact_ExaminerAction" />
       </widget>
       <widget class="QMenu" name="dbaseMenu" >
@@ -706,15 +707,15 @@
         <string>Grasp Force Optimization...</string>
       </property>
     </action>
-    <action name="graspCompliantPlannerAction" >
+    <action name="graspListPlannerAction" >
       <property name="name" >
-        <cstring>graspCompliantPlannerAction</cstring>
+        <cstring>graspListPlannerAction</cstring>
       </property>
       <property name="iconText" >
-        <string>Compliant Planner...</string>
+        <string>List Planner...</string>
       </property>
       <property name="text" >
-        <string>Compliant Planner...</string>
+        <string>List Planner...</string>
       </property>
     </action>
     <action name="dynamicsPlayAction" >