v2.1.0: Relative frame task

[stephane-caron]

This release adds the RelativeFrameTask developed with @ymontmarin 👍 This new task is a generalization of the frame task that accepts targets with respect to any robot frame. For example:

stretch_examples.mp4

• Left: relative frame task (stretch_relative_target.py example)
• Right: frame task (stretch_world_target.py example)

This release also brings a few quality-of-use improvements to configurations and costs.

Added

• Function get_transform in the Configuration class
• Task: relative frame task, where target is w.r.t another robot frame

Changed

• Configuration: update function now accepts a configuration vector argument
• Costs: setting cost in relative frame task now accepts plain float

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This discussion was created from the release v2.1.0.