fixed bug where giskard tried to plot invalid trajectories and dies

SemRoCo · Jul 19, 2019 · 2193b30 · 2193b30
1 parent 14bc72d
commit 2193b30
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/src/giskardpy/plugin_action_server.py b/src/giskardpy/plugin_action_server.py
@@ -140,9 +140,10 @@ def update(self):
  def plot_traj(self):
  if self.plot_trajectory:
  trajectory = self.get_god_map().safe_get_data(identifier.trajectory_identifier)
- sample_period = self.get_god_map().safe_get_data(identifier.sample_period)
- controlled_joints = self.get_robot().controlled_joints
- plot_trajectory(trajectory, controlled_joints, self.path_to_data_folder, sample_period)
+ if trajectory:
+ sample_period = self.get_god_map().safe_get_data(identifier.sample_period)
+ controlled_joints = self.get_robot().controlled_joints
+ plot_trajectory(trajectory, controlled_joints, self.path_to_data_folder, sample_period)
 
  def exception_to_error_code(self, exception):
  """