egordv
authored
* 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 --------- Authored-by: @egordv
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