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Add zmp generator and populate all outputs of the unycycle trajectory generator #916

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update changelog
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LoreMoretti committed Dec 18, 2024
commit 2f356f65877bf53ba35616b5667c7fe86719f05b
1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -14,6 +14,7 @@ All notable changes to this project are documented in this file.
- Add KF to estimate joint and motor velocities in JoinTorqueControlDevice (https://github.com/ami-iit/bipedal-locomotion-framework/pull/909)
- Added option `FRAMEWORK_COMPILE_Ros1Publisher` to enable or disable the compilation of the `BipedalLocomotion::YarpUtilities::RosPublisher` class (https://github.com/ami-iit/bipedal-locomotion-framework/pull/914)
- Added rpc commands to `YarpLoggerDevice` to trigger the saving of data to a local file (https://github.com/ami-iit/bipedal-locomotion-framework/pull/915)
- Add `ZMPgenerator` to `UnicycleTrajectoryGenerator` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/916)

### Changed
- Change device jtcvc to use motor velocity and joint velocity in input to PINN models (https://github.com/ami-iit/bipedal-locomotion-framework/pull/903)
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