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@@ -17,6 +17,7 @@ All notable changes to this project are documented in this file.
- Add SubModelKinDynWrapper class to handle the `KinDynComputation` object of a sub-model (https://github.com/ami-iit/bipedal-locomotion-framework/pull/605)
- Implement the `JointLimitsTask` for the IK (https://github.com/ami-iit/bipedal-locomotion-framework/pull/603)
- Add the possibility to programmatically build an IK problem from a configuration file (https://github.com/ami-iit/bipedal-locomotion-framework/pull/614)
- Implement state dynamic models needed to define an UKF process model (https://github.com/ami-iit/bipedal-locomotion-framework/pull/615)
### Changed
- Ask for `toml++ v3.0.1` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/581)
