We currently have a trajectory generator dedicated to the joints, and another one for trajectories in Euclidian space. We lack a trajectory generator for SE3, which we will need for the foot trajectories.
I've created a first version of the SE3 trajectory generator in this commit 943a909c690c1a518c9358c93b3a2db876651379 (even though the orientation part is not working yet)
We currently have a trajectory generator dedicated to the joints, and another one for trajectories in Euclidian space. We lack a trajectory generator for SE3, which we will need for the foot trajectories.