Python binding addActuationTask to add TaskActuationEquality

[louisgrjh]

Hello, I am currently using tsid in python and would like to use the TaskActuationEquality to implement a cost function, would it be possible for you to create the binding to add it ine the formulation (addActuationTask)? Thank you for your time.

[andreadelprete]

Dear @louisgrjh , thank you for pointing out this missing feature in TSID. At the moment I am struggling to find the time to do this myself, but if you want I can guide you in the implementation. It should be extremely simple for you. You should add a couple of lines in this file, following the examples you can already find. Basically you should define another "addActuationTask" method, and then in the same file (here) you must define a new static function (e.g., addActuationTask_equality) that calls addActuationTask on the self object.

[louisgrjh]

Thank you for your answer, I did what you explained, and I am now able to add the ActuationTaskEquality to the formulation