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Replace assert with raise + relevant Exception #271

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Merged
merged 1 commit into from
Oct 7, 2025
Merged

Replace assert with raise + relevant Exception #271

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3 changes: 2 additions & 1 deletion clearpath_generator_common/clearpath_generator_common/common.py
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Original file line number Diff line number Diff line change
Expand Up @@ -336,7 +336,8 @@ def __init__(self,
setup_path: str = '/etc/clearpath/') -> None:
# Define paths
self.config_path = os.path.join(setup_path, 'robot.yaml')
assert os.path.exists(self.config_path)
if not os.path.exists(self.config_path):
raise FileNotFoundError(f'Config path {self.config_path} does not exist')

self.setup_path = setup_path
self.sensors_params_path = os.path.join(
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8 changes: 7 additions & 1 deletion clearpath_generator_common/clearpath_generator_common/description/manipulators.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,9 @@
# of Clearpath Robotics.
from typing import List

from clearpath_config.common.types.exception import (
UnsupportedAccessoryException,
)
from clearpath_config.manipulators.types.arms import (
BaseArm,
Franka,
Expand Down Expand Up @@ -145,7 +148,10 @@ def __init__(self, gripper: FrankaGripper):
class BaseRobotiqGripperDescription(BaseDescription):

def __init__(self, gripper: BaseGripper):
assert isinstance(gripper, Robotiq2F85) or isinstance(gripper, Robotiq2F140)
if not (isinstance(gripper, Robotiq2F85) or isinstance(gripper, Robotiq2F140)):
raise UnsupportedAccessoryException(
f'Gripper must be of type "Robotiq2F85" or "Robotiq2F140", not "{type(gripper)}"' # noqa: E501
)
super().__init__(gripper)
if (gripper.arm.MANIPULATOR_MODEL == KinovaGen3Dof6.MANIPULATOR_MODEL or
gripper.arm.MANIPULATOR_MODEL == KinovaGen3Dof7.MANIPULATOR_MODEL):
Expand Down
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