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[ImpedanceTask] Fix use of targetSurface and implement targetFrame/targetFrameVelocity #1138

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[ImpedanceTask] Fix use of targetSurface and implement targetFrame/targetFrameVelocity

[ImpedanceTask] Fix use of targetSurface and implement targetFrame/targetFrameVelocity #1138

Run time

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Job Run time
build (debian_buster)
48m 39s
build (ubuntu_22.04)
40m 25s
1h 29m 4s