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ref https://github.com/stack-of-tasks/pinocchio/issues/849

Add python bindings for method addActuationTask of inverse-dynamics-formulation-acc-force. Change name of method addTorqueTask to addActuationTask. Extend python example with UR5 robot with actuation bounds.

Improve TaskSE3Equality: apply mask before returning task acceleration, desired task acceleration, position error and velocity error.

Extend InverseDynamicsFormulationAccForce to work also for robot manipulators, which are fully-actuated, so they do not need to specify the unactuated base dynamics as equality constraints in the TSID optimization problem.

Extend RobotWrapper to fixed-base robots: if no floating-base root joint is specified, assume robot is fully actuated. Add method na to get number of actuators. Add methods to get frame vel/acc in local world-oriented frame (useful for plotting).

Add computation of average computation time in ex_3, slightly change configuration parameters for tests with Romeo.

Revert "[CMake] disable catkin for now"

This reverts commit 50144111.

[bindings][formulations] add binding for removeFromHqpData

[robotwrapper] create constructor from pinocchio::model

[Notebooks] Fix the waist task - Working examples

The plot_utils.py file should be placed in the parent directory of the notebooks 

Adding and fixing the waist task for Pyrène.
The control is now working on both exercises.
Be careful to use joints and not frames when defining the Tasks and Trajectories. 
ie: use 'root_joint' and not 'base_link' for the waist.

Change the weights and gains: use the one of Pierre Fenrbach.