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Commit e7b48b8

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Michael Koval
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Fixed a typo in CBiRRT.
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src/prpy/planning/cbirrt.py

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -256,7 +256,8 @@ def Plan(self, robot, smoothingitrs=None, timelimit=None, allowlimadj=0,
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traj.deserialize(traj_xml)
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# Tag the trajectory as constrained if a constraint TSR is present.
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if any(tsr_chain.constrain for tsr_chain in tsr_chains):
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if (tsr_chains is not None
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and any(tsr_chain.constrain for tsr_chain in tsr_chains)):
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SetTrajectoryTags(traj, {Tags.CONSTRAINED: True}, append=True)
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# Strip extraneous groups from the output trajectory.

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