In this talk we will consider a model of self interacting prudent walk in dimension $2$. The paths considered are self-avoiding and satisfy an additional constraint, i.e., they can not take a step in the direction of a site already visited. The uniform measure on the set of prudent paths is perturbed with the help of an Hamiltonian that rewards self-touchings. We will show that such a model undergoes a collapse transition between an extended phase and a collapsed phase inside wich the free energy is linear. As an intermediate step of the proof we will show that te exponential growth rate of those two-sided prudent paths equals that of generic prudent paths, answering an open question raised in several papers before. (Joint work with Niccolò Torri)