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🚀 Release 0.14.1
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‎CHANGELOG.md‎

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# Changelog
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All notable changes to this project are documented in this file.
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## [unreleased]
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## [0.14.1] - 2023-07-07
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### Fixed
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- Fix python bindings compilation when toml is not installed (https://github.com/ami-iit/bipedal-locomotion-framework/pull/700)
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- Fix `YarpRobotLoggerDevice` if `YARP_ROBOT_NAME` is not defined (https://github.com/ami-iit/bipedal-locomotion-framework/pull/701)
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- Added `mas-imu-test` application to check the output of MAS IMUs (https://github.com/ami-iit/bipedal-locomotion-framework/pull/62)
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- Implement motor currents reading in `YarpSensorBridge`. (https://github.com/ami-iit/bipedal-locomotion-framework/pull/187)
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[unreleased]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.14.0...master
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[unreleased]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.14.1...master
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[0.14.1]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.14.0...v0.14.1
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[0.14.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.13.0...v0.14.0
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[0.13.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.12.0...v0.13.0
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[0.12.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.11.1...v0.12.0

‎CMakeLists.txt‎

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## MAIN project
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project(BipedalLocomotionFramework
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VERSION 0.14.0)
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VERSION 0.14.1)
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
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‎docs/config.toml‎

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additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"]
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src_folder = "src"
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['v0.14.0']
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['v0.14.1']
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main_page = "docs/pages/main-page.dox"
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additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"]
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src_folder = "src"

‎docs/pages/main-page.dox‎

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@@ -23,32 +23,33 @@ The **bipedal-locomotion-framework** project consists of several components. The
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| Component | Description | Additional Dependencies |
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| :--------------------------------------------: | :----------------------------------------------------------: | :----------------------------------------------------------: |
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| `Framework` | Interface library that gathers all the exported components, includable with the file `BipedalLocomotion/Framework.h` | - |
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| [`AutoDiff`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/AutoDiff) | Bridge between CppAD and Eigen | [`CppAD`](https://coin-or.github.io/CppAD/doc/cppad.htm) |
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| [`ContactModels`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/ContactModels) | Models to describe the contact between robot and enviroment | - |
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| [`Contacts`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/Contacts) | Syntactic description of a contact | [`manif`](https://github.com/artivis/manif) [`nlohmann json`](https://github.com/nlohmann/json/) |
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| [`CommonConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/Conversions) | Common conversion utilities used in the framework | - |
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| [`ManifConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/Conversions) | Library related conversion utilities used in the framework | [`manif`](https://github.com/artivis/manif) |
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| [`matioCppConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/Conversions) | Library related conversion utilities used in the framework | [`matio-cpp`](https://github.com/ami-iit/matio-cpp) |
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| [`CasadiConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/Conversions) | Library related conversion utilities used in the framework | [`CasADi`](https://github.com/casadi/casadi) |
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| [`Estimators`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/Estimators) | Library containing observers | - |
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| [`FloatingBaseEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) |
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| [`RobotDynamicsEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) |
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| [`GenericContainer`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/GenericContainer) | Data structure similar to ``span`` but resizable. | - |
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| [`IK`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/IK) | Inverse kinematics | [`manif`](https://github.com/artivis/manif) [`osqp-eigen`](https://github.com/robotology/osqp-eigen) |
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| [`Math`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/Math) | Library containing mathematical algorithms | [`manif`](https://github.com/artivis/manif) |
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| [`ML`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/ML) | Library containing deep learning algorithms | [`onnxruntime`](https://onnxruntime.ai/) |
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| [`ParametersHandler`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/ParametersHandler) | Library for retrieving parameters from configuration files | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`tomlplusplus`](https://github.com/marzer/tomlplusplus/) (only if you want the `toml` implementation) |
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| [PerceptionInterface](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/RobotInterface) | Generic interface classes to adapt to perception data formats like images and point clouds | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) |
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| [PerceptionCapture](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/Perception) | Library containing driver classes for perception devices | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) [`realsense2`](https://github.com/IntelRealSense/librealsense) |
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| [PerceptionFeatures](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/Perception) | Library containing perception algorithms useful for locomotion | [`OpenCV`](https://github.com/opencv/opencv) |
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| [`Planners`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/Planners) | Library containing planner useful for locomotion | [`manif`](https://github.com/artivis/manif) [`CasADi`](https://web.casadi.org/) [`qhull`](http://www.qhull.org/) |
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| [`ReducedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/ReducedModelsController) | Controller based on reduced models, e.g., `CentroidalMPC` | [`CasADi`](https://github.com/casadi/casadi)|
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| [`RobotInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/RobotInterface) | Library for communicating with the robot | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) |
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| [SimplifiedModelControllers](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/SimplifiedModelControllers) | Controllers based on simplified models, i.e, LIPM. | - |
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| [System](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/System) | Description of discrete and continuous dynamical systems | - |
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| [TSID](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/TSID) | Task space inverse dynamics | [`manif`](https://github.com/artivis/manif) [`lie-group-controllers`](https://github.com/ami-iit/lie-group-controllers) |
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| [TextLogging](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/TextLogging) | Helper library to display messages into the console | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`ros-humble`](https://docs.ros.org/en/humble/) (if you want the `ros2` implementation) |
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| [YarpUtilities](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.0/src/YarpUtilities) | Utilities library for retrieving data and from YARP structures | [`YARP`](https://www.yarp.it/git-master/) |
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| [`AutoDiff`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/AutoDiff) | Bridge between CppAD and Eigen | [`CppAD`](https://coin-or.github.io/CppAD/doc/cppad.htm) |
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| [`ContactModels`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/ContactModels) | Models to describe the contact between robot and enviroment | - |
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| [`Contacts`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/Contacts) | Syntactic description of a contact | [`manif`](https://github.com/artivis/manif) [`nlohmann json`](https://github.com/nlohmann/json/) |
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| [`CommonConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/Conversions) | Common conversion utilities used in the framework | - |
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| [`ManifConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/Conversions) | Library related conversion utilities used in the framework | [`manif`](https://github.com/artivis/manif) |
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| [`matioCppConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/Conversions) | Library related conversion utilities used in the framework | [`matio-cpp`](https://github.com/ami-iit/matio-cpp) |
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| [`CasadiConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/Conversions) | Library related conversion utilities used in the framework | [`CasADi`](https://github.com/casadi/casadi) |
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| [`Estimators`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/Estimators) | Library containing observers | - |
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| [`FloatingBaseEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) |
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| [`RobotDynamicsEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) |
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| [`GenericContainer`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/GenericContainer) | Data structure similar to ``span`` but resizable. | - |
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| [`IK`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/IK) | Inverse kinematics | [`manif`](https://github.com/artivis/manif) [`osqp-eigen`](https://github.com/robotology/osqp-eigen) |
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| [`Math`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/Math) | Library containing mathematical algorithms | [`manif`](https://github.com/artivis/manif) |
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| [`ML`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/ML) | Library containing deep learning algorithms | [`onnxruntime`](https://onnxruntime.ai/) |
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| [`ParametersHandler`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/ParametersHandler) | Library for retrieving parameters from configuration files | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`tomlplusplus`](https://github.com/marzer/tomlplusplus/) (only if you want the `toml` implementation) |
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| [`PerceptionInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/RobotInterface) | Generic interface classes to adapt to perception data formats like images and point clouds | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) |
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| [`PerceptionCapture`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/Perception) | Library containing driver classes for perception devices | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) [`realsense2`](https://github.com/IntelRealSense/librealsense) |
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| [`PerceptionFeatures`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/Perception) | Library containing perception algorithms useful for locomotion | [`OpenCV`](https://github.com/opencv/opencv) |
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| [`Planners`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/Planners) | Library containing planner useful for locomotion | [`manif`](https://github.com/artivis/manif) [`CasADi`](https://web.casadi.org/) [`qhull`](http://www.qhull.org/) |
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| [`ReducedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/ReducedModelsController) | Controller based on reduced models, e.g., `CentroidalMPC` | [`CasADi`](https://github.com/casadi/casadi)|
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| [`RobotInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/RobotInterface) | Library for communicating with the robot | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) |
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| [`SimplifiedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/SimplifiedModelControllers) | Controllers based on simplified models, i.e, LIPM. | - |
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| [`System`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/System) | Description of discrete and continuous dynamical systems | - |
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| [`TSID`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/TSID) | Task space inverse dynamics | [`manif`](https://github.com/artivis/manif) [`lie-group-controllers`](https://github.com/ami-iit/lie-group-controllers) |
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| [`TextLogging`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/TextLogging) | Helper library to display messages into the console | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`ros-humble`](https://docs.ros.org/en/humble/) (if you want the `ros2` implementation) |
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| [`YarpUtilities`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.14.1/src/YarpUtilities) | Utilities library for retrieving data and from YARP structures | [`YARP`](https://www.yarp.it/git-master/) |
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\warning ⚠️ Including `BipedalLocomotion/Framework.h` may result in higher compilation time because of the inclusion of headers which may not be used in your project. It is always suggested to follow the [IWYU](https://github.com/include-what-you-use/include-what-you-use/blob/cc0fad4be0db26e40713b6076263f204a311b573/docs/WhyIWYU.md) paradigm. This applies also for the CMake targets. It is suggested to link only the targets used in your project.
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target_link_libraries(example PRIVATE BipedalLocomotion::Math)
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~~~~~~~~~~~~~
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The list of the targets can be found in the table \ref exported-components
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\section contributing ⚙️ Contributing
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The **bipedal-locomotion-framework** is an open-source project, and is thus built with your contributions. We strongly encourage you to open an issue with your feature request. Once the issue has been opened, you can also proceed with a pull-request 🚀

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