[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,
                                                                    ^

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.

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>

* [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>

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