[mc_control] Properly apply contact DoF when using the deprecated method

[arntanguy]

Following #250, we noticed that the old method of setting contact DoF is no longer working.
For example:

  Eigen::Matrix6d dof = Eigen::Matrix6d::Identity(6, 6);
  dof(0, 0) = 0;
  dof(1, 1) = 0;
  dof(5, 5) = 0;
  // dof = Eigen::Matrix6d::Zero(6,6);
  tasks::qp::ContactId ContactId_R;
  tasks::qp::ContactId ContactId_L;
  ContactId_R = mc_rbdyn::Contact(robots(), 0, 1, "RightFoot", "AllGround").contactId(robots());
  ContactId_L = mc_rbdyn::Contact(robots(), 0, 1, "LeftFoot", "AllGround").contactId(robots());
  contactConstraint.contactConstr->addDofContact(ContactId_L, dof);
  contactConstraint.contactConstr->addDofContact(ContactId_R, dof);
  contactConstraint.contactConstr->updateDofContacts();
  solver().setContacts({{robots(), 0, 1, "LeftFoot", "AllGround"}, {robots(), 0, 1, "RightFoot", "AllGround"}});

results in two contacts set with full dof (1 1 1 1 1 1) instead of (0 0 1 1 1 0). This is because the Contact::from_mc_rbdyn doesn't take into account the contact's dof set in the constraint.

As a side note, tutorials haven't been updated and suggest using deprecated APIs:

• https://jrl-umi3218.github.io/mc_rtc/tutorials/recipes/contact-dof.html
• https://jrl-umi3218.github.io/mc_rtc/tutorials/recipes/moving-a-contact.html

Requires jrl-umi3218/Tasks#80

[gergondet]

Nice catch!

I will update the tutorials in the PR (the second one even mentions the MoveContactTask which has been removed a few versions ago) then merge

[gergondet]

Sorry for the long delay.

I have also moved the new base functionalities in the Python bindings and updated the tutorials to avoid usage of setContacts.

Will merge when the CI lands