[python] update rbprmfullbody.py to changes in addNewContact API (addition of rotation target)

src/hpp/corbaserver/rbprm/rbprmfullbody.py

@@ -256,7 +256,7 @@ class FullBody(Robot):
         num_max_sample = 1
         for (limbName, normal) in zip(contacts, normals):
             p = cl.getEffectorPosition(limbName, configuration)[0]
-            cl.addNewContact(sId, limbName, p, normal, num_max_sample, False)
+            cl.addNewContact(sId, limbName, p, normal, num_max_sample, False,[0,0,0,0])
         return sId
 
     # # Retrieves the contact candidates configurations given a configuration and a limb
@@ -322,7 +322,7 @@ class FullBody(Robot):
         num_max_sample = 1
         for (limbName, normal) in zip(contacts, normals):
             p = cl.getEffectorPosition(limbName, configuration)[0]
-            cl.addNewContact(sId, limbName, p, normal, num_max_sample, False)
+            cl.addNewContact(sId, limbName, p, normal, num_max_sample, False,[0,0,0,0])
         return cl.setStartStateId(sId)
 
     # # Initialize the goal configuration of the path interpolation
@@ -339,7 +339,7 @@ class FullBody(Robot):
         num_max_sample = 1
         for (limbName, normal) in zip(contacts, normals):
             p = cl.getEffectorPosition(limbName, configuration)[0]
-            cl.addNewContact(sId, limbName, p, normal, num_max_sample, False)
+            cl.addNewContact(sId, limbName, p, normal, num_max_sample, False,[0,0,0,0])
         return cl.setEndStateId(sId)
 
     # # Initialize the first state of the path interpolation