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Major update

Guilhem Saurel requested to merge jmirabel:master into master

Created by: jmirabel

It contains the following:

  • non-holonomic constraint,
  • synchronization of ROS node,
  • fix of relative grasp constraint,
  • fix of initial config,
  • fix damping of SoT solvers,
  • externalization tuning of gripper closure constraints,
  • avoid locking the real-time thread from a non real-time thread.

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