Throw a more meaningful error when TOPPRA fails

airo-ugent · Apr 25, 2024 · 0f418bc · 0f418bc
1 parent e146b1a
commit 0f418bc
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Showing 3 changed files with 7 additions and 1 deletion.
diff --git a/airo_drake/__init__.py b/airo_drake/__init__.py
@@ -42,6 +42,7 @@
     filter_collisions_between_all_body_pairs,
     list_collisions_between_bodies,
 )
+from airo_drake.exceptions import TimeParameterizationError
 
 
 __all__ = [
@@ -75,4 +76,5 @@
     "calculate_valid_joint_paths",
     "filter_collisions_between_all_body_pairs",
     "list_collisions_between_bodies",
+    "TimeParameterizationError",
 ]
diff --git a/airo_drake/exceptions.py b/airo_drake/exceptions.py
@@ -0,0 +1,2 @@
+class TimeParameterizationError(RuntimeError):
+    """Raised when a path could not be time parameterized."""
diff --git a/airo_drake/time_parametrization/toppra.py b/airo_drake/time_parametrization/toppra.py
@@ -4,6 +4,8 @@
 from pydrake.multibody.plant import MultibodyPlant
 from pydrake.trajectories import PathParameterizedTrajectory, PiecewisePolynomial, Trajectory
 
+from airo_drake.exceptions import TimeParameterizationError
+
 
 def time_parametrize_toppra(
     plant: MultibodyPlant,
@@ -41,7 +43,7 @@ def time_parametrize_toppra(
     time_parametrization = toppra.SolvePathParameterization()
 
     if time_parametrization is None:
-        raise ValueError("TOPP-RA failed to find a valid time parametrization.")
+        raise TimeParameterizationError("TOPP-RA failed to find a valid time parametrization.")
 
     joint_trajectory = PathParameterizedTrajectory(joint_trajectory, time_parametrization)
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		class TimeParameterizationError(RuntimeError):
		"""Raised when a path could not be time parameterized."""