Merge tag 'v1.2.0'

CMakeLists.txt

bindings/python/CMakeLists.txt

bindings/python/contacts/contact-6d.hpp

bindings/python/contacts/contact-point.hpp

bindings/python/formulations/formulation.hpp

bindings/python/robots/robot-wrapper.hpp

bindings/python/tasks/task-com-equality.hpp

bindings/python/tasks/task-joint-posture.hpp

bindings/python/tasks/task-se3-equality.hpp

bindings/python/trajectories/trajectory-se3.hpp

cmake

demo/demo_quadruped.py

demo/demo_romeo.py

exercizes/ex_1.py

exercizes/ex_2.py

exercizes/plot_utils.py

include/tsid/contacts/contact-6d.hpp

include/tsid/contacts/contact-base.hpp

include/tsid/contacts/contact-point.hpp

...d/formulations/inverse-dynamics-formulation-acc-force.hpp