def METHOD_NAME(self):
    relEfTask1 = mc_tasks.RelativeEndEffectorTask("r_wrist", self.robots, 0)
    relEfTask2 = mc_tasks.RelativeEndEffectorTask(
        "r_wrist", self.robots, 0, "", 2.0, 1000
    )
    relEfTask3 = mc_tasks.RelativeEndEffectorTask(
        "r_wrist", self.robots, 0, weight=1000.0, stiffness=2.0, relBodyName=""
    )
    assert (
        relEfTask1.positionTask.stiffness() == relEfTask2.positionTask.stiffness()
    )
    assert (
        relEfTask1.positionTask.stiffness() == relEfTask3.positionTask.stiffness()
    )
    assert relEfTask1.positionTask.weight() == relEfTask2.positionTask.weight()
    assert relEfTask1.positionTask.weight() == relEfTask3.positionTask.weight()
    assert (
        relEfTask1.orientationTask.stiffness()
        == relEfTask2.orientationTask.stiffness()
    )
    assert (
        relEfTask1.orientationTask.stiffness()
        == relEfTask3.orientationTask.stiffness()
    )
    assert (
        relEfTask1.orientationTask.weight() == relEfTask2.orientationTask.weight()
    )
    assert (
        relEfTask1.orientationTask.weight() == relEfTask3.orientationTask.weight()
    )