* TaskTwoFramesEquality and ContactTwoFramePositions added with appropriate bindings. 

* getMotionTask type changed from TaskSE3Equality to TaskMotion to allow contacts use different motion tasks, not only TaskSE3Equality

* python demo of talos gripper with closed kinematic chain, using URDF/STLs in external repo


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Authored-by: @egordv 

* files for adding known external force to dynamic model.

* add external force to dynamic model in computeData

* external forces added in dynamic model and local/world-oriented frame done

* properly add measured force in formulation

* add 3Dforce

* add removeMeasuredForce in inv-dyn-formulation

* const parameter in setForce

* add python pindings (reference on contacts ones)

* point correctly to submodule

* name change

* remove unfinished bindings and rename 1 header

* Removed 'for' loop for h_fext in decodeSolution

* format with clang 10

* try to check cmake-format

---------

Co-authored-by: Pauline Maurice <pauline.maurice@loria.fr>
Co-authored-by: Nicolas Valle <nicolas.valle@loria.fr>
Co-authored-by: pmaurice <pauline.maurice@inria.fr>

for more information, see https://pre-commit.ci

* [pre-commit] Add clang-format Google style.

* [pre-commit] Add flag to ignore sorting of includes.

* [pre-commit] Apply clang-format following Google style and ignoring includes sorting.

* [git-blame-ignore-revs] Add commit applying google style and avoid sort include.

* ci: fix potential issue related to recent update of industrial_ci

---------

Co-authored-by: Olivier Stasse <olivier.stasse@laas.fr>
Co-authored-by: Justin Carpentier <justin.carpentier@inria.fr>

* Implement retrieveQPData for QPMad

* Fix qpmad after implementing retrieveQPData

ref. https://build.ros.org/job/Mdev__tsid__ubuntu_bionic_amd64/41/gcc/

- use c++ wrapper for osqp (written in C) : https://github.com/robotology/osqp-eigen

proxqp is hosted in the proxsuite repo: https://github.com/simple-robotics/proxsuite

- m_qpData is holding all necessary matrices
- new function `retrieveQPData`: convert the cost and constraints from problemData into matrices describing a QP problem

* Fix JointPostureTask::compute difference
* Add tests
* Add `nq_actuated` to Robot Wrapper

Authored-by: EtienneAr <earlaud@pl346-pro.paris.inria.fr-1>

* add qpmad solver
* add access to qpmad solver parameters

Authored by ivanbergonzani 

Authored by @paulinejmaurice 

Add floating-base choice when creating robot wrapper from a Pinocchio model

Authored-by: EtienneAr <earlaud@pl346-pro.paris.inria.fr-1>

Add task actuation equality (by pauline.maurice@loria.fr)

* [ForceTask] Add bindings and set task for contactPoint (3D), use Contact6D, put dt as an input in the constructor & add feedforward, add leak_rate parameter, change constructor & methods to take the contact

Authored-by: Noëlie Ramuzat <noelie.ramuzat@laas.fr>

* Refactor TrajectorySample::pos, vel, acc to value, derivative, second_derivative

* [Tests] update tests to refactor of TrajectorySample

* Task-am-equality: correctly use reference value/derivative instead of derivative/second_derivative
Fix #77

* [Python] update python bindings of TrajectorySample

* [Python] deprecate TrajectorySample.{pos,vel,acc}

* [Tests] python < 3.2 doesn't have assertWarns

* trajectory: keep deprecated pos/vel/acc, add updated getters / setters instead

* [CMake] install macros.hpp

Co-authored-by: Guilhem Saurel <guilhem.saurel@laas.fr>

Fix bug in InverseDynamicsFormulationAccForce: when adding a contact, the number of equality constraints was incremented even if the motion constraints were relaxed to the cost function.

[c++] Fix bug in initialization of several tasks, which did not initializa the reference. This was making the software crash in case the user forgot to set a reference for the task.

to stop spam from https://build.ros.org/job/Mdev__tsid__ubuntu_bionic_amd64/

[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