Logging, Pinocchio 3.x Compatibility & Trajectory Framework Refactoring#8
Merged
thanhndv212 merged 11 commits intomainfrom Dec 7, 2025
Merged
Logging, Pinocchio 3.x Compatibility & Trajectory Framework Refactoring#8thanhndv212 merged 11 commits intomainfrom
thanhndv212 merged 11 commits intomainfrom
Conversation
…custom parameters support
- Removed ConfigurationManager and BaseParameterComputer classes from base_optimal_trajectory.py and moved them to separate files for better organization. - Introduced a new ConfigurationManager class in config.py to handle loading and parsing of configuration files, supporting both unified and legacy formats. - Created a new BaseParameterComputer class in base_parameter.py to manage base parameter computation and indexing. - Added TrajectoryConstraintManager class in constraints.py to manage trajectory constraints and bounds. - Updated BaseOptimalTrajectory to utilize the new configuration and parameter management classes, improving clarity and maintainability. - Enhanced error handling and logging throughout the trajectory generation process.
…e generation status
…onfiguration format
…roved error handling and status reporting
…multiple modules for improved logging and error handling
…Joint subject to API changes in Pincchio 3.x
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Summary
Comprehensive logging overhaul, Pinocchio 3.x API compatibility, and modular restructuring of the optimal trajectory framework.
Key Changes
🔧 Logging
printstatements with properloggingacross 19 modulesNullHandlerpattern for library code🔄 Pinocchio 3.x
Frame.parent→Frame.parentJointfor API compatibility🏗️ Trajectory Framework
ConfigurationManager,BaseParameterComputer, andTrajectoryConstraintManagerinto separate modulesBaseOptimalTrajectorywith improved modularity📝 API
load_from_yaml→load_paramStats
19 files changed, +1101, -804
Breaking Changes
load_from_yaml→load_param(update direct calls)