Reduce the number of rosservices call by gathering them.
Gather the gripper methods in functions + disable it.
Remove script tf_to_homo, use the existing one instead.
Backup before hrp4
Handle Line element.
Update the list of tasks handled.
Remove the movement_id element from ConstraintCommand.
Cleanup the code + add critiqueTaskListener to watch the task progression.
Publish bung position wrt gripper.

Corresponds to the moment where the object is in the robot's hand.