[Python] set{Start,End}State do not allow to sample if the first iteration fail

src/hpp/corbaserver/rbprm/rbprmfullbody.py

@@ -322,7 +322,7 @@ class FullBody(Robot):
             return self.clientRbprm.rbprm.setStartState(configuration, contacts)
         cl = self.clientRbprm.rbprm
         sId = cl.createState(configuration, contacts)
-        num_max_sample = 1
+        num_max_sample = 0
         for (limbName, normal) in zip(contacts, normals):
             p = cl.getEffectorPosition(limbName, configuration)[0]
             cl.addNewContact(sId, limbName, p, normal, num_max_sample, False, [0, 0, 0, 0])
@@ -339,7 +339,7 @@ class FullBody(Robot):
             return self.clientRbprm.rbprm.setEndState(configuration, contacts)
         cl = self.clientRbprm.rbprm
         sId = cl.createState(configuration, contacts)
-        num_max_sample = 1
+        num_max_sample = 0
         for (limbName, normal) in zip(contacts, normals):
             p = cl.getEffectorPosition(limbName, configuration)[0]
             cl.addNewContact(sId, limbName, p, normal, num_max_sample, False, [0, 0, 0, 0])