Added the task weight in the python init file.

src/dynamic_graph/sot/dyninv/__init__.py

 from controller_pd import ControllerPD
-ControllerPD('')
-
 from task_dyn_pd import TaskDynPD
-TaskDynPD('')
-
 from task_dyn_inequality import TaskDynInequality
-TaskDynInequality('')
-
 from dynamic_integrator import DynamicIntegrator
-DynamicIntegrator('')
-
 from pseudo_robot_dynamic import PseudoRobotDynamic
-PseudoRobotDynamic('')
-
 from solver_op_space import SolverOpSpace
-SolverOpSpace('')
 from solver_dyn_reduced import SolverDynReduced
-SolverDynReduced('')
-
-from solver_kine import SolverKine
-SolverKine('')
-
 from zmp_estimator import ZmpEstimator
-ZmpEstimator('')
-
 from robot_dyn_simu import RobotDynSimu
-RobotDynSimu('')
-
 from task_dyn_joint_limits import TaskDynJointLimits
-TaskDynJointLimits('')
-
 from task_dyn_limits import TaskDynLimits
-TaskDynLimits('')
-
 from task_joint_limits import TaskJointLimits
-TaskJointLimits('')
-
 from task_inequality import TaskInequality
-TaskInequality('')
-
 from feature_projected_line import FeatureProjectedLine
-FeatureProjectedLine('')
-
 from contact_selecter import ContactSelecter
-ContactSelecter('')
 
+from task_weight import TaskWeight
+
+
+from solver_kine import SolverKine
+def sot_addContact( sot,metaTask ):
+    metaTask.keep()
+    sot.push(metaTask.task.name)
+setattr(SolverKine,'addContact',sot_addContact)