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hpp-rbprm-corba
Commit 9c9ed1db authored by Pierre Fernbach's avatar Pierre Fernbach
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[Python] set{Start,End}State do not allow to sample if the first iteration fail

parent 82b00950
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src/hpp/corbaserver/rbprm/rbprmfullbody.py
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......@@ -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])
......
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