change names of tasks which have equivalent representation in Pinocchio
I propose that we change the names of the tasks to ones that are already being used in Pinocchio
So CostModelPosition6D would become CostModelFramePlacement
CostModelPlacementVelocity would become CostModelFrameVelocity and so on...
( CostModelPosition3d might be CostModelFrameTranslation ? This is just a suggestion.)
Edited by Rohan Budhiraja