[c++] Do not label problem as not solved if constraint violations are detected because small violations may be tolerable (only affected debug mode)

[c++] Fix bug in computation of position tracking error in TaskSE3Equality when expressing quantities in local frame.

[C++] Standardize names of methods to get and set mask in motion tasks. Add python bindings for setting/getting masks in TaskCOM and TaskSE3Equality.

[c++] Fix bug in TaskSE3Equality: when expressing task quantities in world frame there was a mistake in the transform of the position error from local to world frame. Switch from log6 to log3 to avoid coupling between orientation error and translation error, which made task mask not work properly.

Add mask to task-com-equality
Authored-by: Pauline Maurice, Eloise Dalin @dalinel and JB Mouret @jbmouret 

tsid/src/tasks/task-motion.cpp: In member function ‘virtual const TrajectorySample& tsid::tasks::TaskMotion::getReference() const’:
tsid/src/tasks/task-motion.cpp:43:89: warning: returning reference to temporary [-Wreturn-local-addr]
     const TrajectorySample & TaskMotion::getReference() const { return TrajectorySample(); }
                                                                                         ^

Try to fix this warning:
tsid/src/tasks/task-capture-point-inequality.cpp:103:77: warning: unused parameter ‘t’ [-Wunused-parameter]
     const ConstraintBase & TaskCapturePointInequality::compute(const double t,
                                                                             ^
tsid/src/tasks/task-capture-point-inequality.cpp:104:68: warning: unused parameter ‘q’ [-Wunused-parameter]
                                                     ConstRefVector q,
                                                                    ^
/home/rascof/tsid/src/tasks/task-capture-point-inequality.cpp:105:68: warning: unused parameter ‘v’ [-Wunused-parameter]
                                                     ConstRefVector v,
                                                                    ^

[c++] Add asserts in RobotWrapper methods to check whether joint index and frame index are within bounds. Replace deprecated method pinocchio::framesForwardKinematics with its new version.

* Function setGravity added
Co-authored-by: Aurélie Bonnefoy <abonnefoy@laas.fr>

Following https://github.com/stack-of-tasks/pinocchio/pull/1220, some
Data can't be const anymore.

This commit just removed const until compilation succedded again.

* [Python] add updateRigidContactWeights to the formulation API
* updateRigidContactWeights: return True even if no motion_task are found when motion_weight < 0

Co-authored-by: paLeziart <paleziart@laas.fr>

Add task to handle joint position-velocity-acceleration bounds using the algorithm explained in "Joint Position and Velocity Bounds in Discrete-Time Acceleration/Torque Control of Robot Manipulators." IEEE RAL, https://hal.archives-ouvertes.fr/hal-01356989/document

Authored-by: eloise <eloise.dalin@inria.fr>

moved scripts to unittest/python/, and headers into include/

* [python] add task-angular-momentum-equality to formulation api

* [task] add task-angular-momentum-equality

* [python] expose task-am-equality

* fix mistake introduced by merge

* fix includes in angular-momentum-equality-task

* Task-am-equality now inherited from TaskMotion instead of TaskBase

* [Python] update to changes in task-am-equality : inherit from taskMotion

* Task-am-equality; refactor getDesireddMomentum -> getDesiredMomentumDerivative

* [Python] Task-am-equality: refactor getDesireddMomentum -> getDesiredMomentumDerivative

* Task-am-equalit: comment print of error at each iteration

* Task-am-equality: remove direct use of ccrba and use RobotWrapper instead

* [Python] scripts: update task-am-equality test to python3

* [Python] script/test_Tasks.py : refactor se3 -> pin

* [Python] scripts/test_Tasks.py update to changes in pinocchio::neutralConfiguration

* task-am-equality: use pinocchio::computeCentroidalMomentumTimeVariation method in compute()

* [Python] script/test_Tasks.py: compare the two drift computation methods

* [CmakeList] update minimum Pinocchio version to 2.2.0

* Add angularMomentumTimeVariation method in RobotWrapper

* [Python] expose RobotWrapper::angularMomentumTimeVariation
Co-authored-by: Sanghyun Kim <38058103+ggory15@users.noreply.github.com>

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.