Add pose task to IK #54
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As documented in https://github.com/ami-iit/element_motion-generation-with-ml/issues/111 and https://github.com/ami-iit/element_motion-generation-with-ml/issues/113, the pose task implementation is complete and based on my tests seems to work properly. |
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I added the option to include a SE3 task in the IK, such that we can use position trackers if desired. Bindings are also added.