merge #218 from master into devel #236
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* TaskTwoFramesEquality and ContactTwoFramePositions added with appropriate bindings. * getMotionTask type changed from TaskSE3Equality to TaskMotion to allow contacts use different motion tasks, not only TaskSE3Equality * python demo of talos gripper with closed kinematic chain, using URDF/STLs in external repo --------- Authored-by: @egordv
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TaskTwoFramesEquality and ContactTwoFramePositions added with appropriate bindings.
getMotionTask type changed from TaskSE3Equality to TaskMotion to allow contacts use different motion tasks, not only TaskSE3Equality
python demo of talos gripper with closed kinematic chain, using URDF/STLs in external repo
Authored-by: @egordv