Return an error if the input link is not supported in the parametric …

…model
ami-iit · Mar 8, 2024 · 8e25f02 · 8e25f02
1 parent 66f2273
commit 8e25f02
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/src/adam/parametric/model/parametric_factories/parametric_link.py b/src/adam/parametric/model/parametric_factories/parametric_link.py
@@ -136,6 +136,10 @@ def get_geometry(visual_obj):
         if isinstance(visual_obj.geometry, urdf_parser_py.urdf.Sphere):
             return Geometry.SPHERE, visual_obj.geometry
 
+        raise NotImplementedError(
+            f"The visual type {visual_obj.geometry.__class__} is not supported"
+        )
+
     def compute_volume(self):
         """
         Returns:
@@ -165,7 +169,6 @@ def compute_mass(self):
         Returns:
             (npt.ArrayLike): the link mass
         """
-        mass = 0.0
         mass = self.volume * self.densities
         return mass