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@@ -29,6 +29,7 @@ All notable changes to this project are documented in this file.
- Update the code to be compatible with LieGroupControllers v0.2.0 (https://github.com/ami-iit/bipedal-locomotion-framework/pull/653)
- Allow use of vectors for task gains (https://github.com/ami-iit/bipedal-locomotion-framework/pull/654)
-`Catch2` is now downloaded with `FetchContent` if `BUILD_TESTING` is set to `ON` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/655)
- Add the possibility to set vectorial gains in CoM IK and TSID tasks (https://github.com/ami-iit/bipedal-locomotion-framework/pull/656)
### Fixed
- Return an error if an invalid `KinDynComputations` object is passed to `QPInverseKinematics::build()` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/622)
