def METHOD_NAME(self):
    efTask1 = mc_tasks.EndEffectorTask("r_wrist", self.robots, 0)
    efTask2 = mc_tasks.EndEffectorTask("r_wrist", self.robots, 0, 2.0, 1000)
    efTask3 = mc_tasks.EndEffectorTask(
        "r_wrist", self.robots, 0, weight=1000.0, stiffness=2.0
    )
    assert efTask1.positionTask.stiffness() == efTask2.positionTask.stiffness()
    assert efTask1.positionTask.stiffness() == efTask3.positionTask.stiffness()
    assert efTask1.positionTask.weight() == efTask2.positionTask.weight()
    assert efTask1.positionTask.weight() == efTask3.positionTask.weight()
    assert (
        efTask1.orientationTask.stiffness() == efTask2.orientationTask.stiffness()
    )
    assert (
        efTask1.orientationTask.stiffness() == efTask3.orientationTask.stiffness()
    )
    assert efTask1.orientationTask.weight() == efTask2.orientationTask.weight()
    assert efTask1.orientationTask.weight() == efTask3.orientationTask.weight()