Update log warn and error

hanruihua · Dec 22, 2024 · 7ba3b22 · 7ba3b22
1 parent c574c1c
commit 7ba3b22
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Showing 3 changed files with 14 additions and 9 deletions.
diff --git a/irsim/lib/handler/geometry_handler.py b/irsim/lib/handler/geometry_handler.py
@@ -74,11 +74,11 @@ def get_init_Gh(self):
 
             convex_flag, _ = is_convex_and_ordered(self.init_vertices)
 
-            # assert convex_flag, "Polygon Objects are not convex"
-
-            G, h = gen_inequal_from_vertex(self.init_vertices)
-
-            cone_type = "Rpositive"
+            if convex_flag:
+                G, h = gen_inequal_from_vertex(self.init_vertices)
+                cone_type = "Rpositive"
+            else:
+                G, h, cone_type = None, None, None
         else:
             G, h, cone_type, convex_flag = None, None, None, None
 

diff --git a/irsim/lib/handler/kinematics_handler.py b/irsim/lib/handler/kinematics_handler.py
@@ -97,6 +97,7 @@ def create_kinematics(
         alpha: list = None,
         mode: str = 'steer',
         wheelbase: float = None,
+        role: str = 'robot'
     ) -> KinematicsHandler:
         name = name.lower() if name else None
         if name == "omni":
@@ -105,9 +106,13 @@ def create_kinematics(
             return DifferentialKinematics(name, noise, alpha)
         elif name == "acker":
             return AckermannKinematics(name, noise, alpha, mode, wheelbase)
-        elif name == 'rigid3d':
-            return Rigid3DKinematics(name, noise, alpha)
+        # elif name == 'rigid3d':
+        #     return Rigid3DKinematics(name, noise, alpha)
         else:
-            print(f"Unknown kinematics type: {name}, object will be stationary.")
+            if role=='robot':
+                print(f"Unknown kinematics type: {name}, the robot will be stationary.")
+            else:
+                pass
+
             return None
 
diff --git a/irsim/world/object_base.py b/irsim/world/object_base.py
@@ -201,7 +201,7 @@ def __init__(
             GeometryFactory.create_geometry(**shape) if shape is not None else None
         )
         self.kf = (
-            KinematicsFactory.create_kinematics(wheelbase=self.wheelbase, **kinematics)
+            KinematicsFactory.create_kinematics(wheelbase=self.wheelbase, role=role, **kinematics)
             if kinematics is not None
             else None
         )