interfaces.task_modeling

TODO: module description

Attachment

`Attachment`
`create_attachment`	create an Attachment between the parent body’s parent_link and child body, based on their current pose

`GraspInfo`
`body_from_end_effector`	get world_from_brick pose from a given world_from_gripper and gripper_from_brick
`end_effector_from_body`	get world_from_gripper from the target brick’s pose and the grasp pose
`approach_from_grasp`	get approach_from_brick
`get_grasp_pose`	get grasp poses from a constraint