fix bug in animate_joint_configurations

airo_drake/visualization/joints.py

@@ -84,7 +84,9 @@ def animate_joint_configurations(
     """
     if joint_configurations is None or len(joint_configurations) == 0:
         logger.warning("Asked to animate joint configurations, but none provided.")
+        return
 
+    last_configuration = joint_configurations[-1].squeeze()
     joint_configurations = np.array(joint_configurations).squeeze()
 
     if time_per_configuration is not None:
@@ -93,7 +95,7 @@ def animate_joint_configurations(
     # Due to how ZeroOrderHold works, we need to duplicate the last configuration.
     # See note on how the second point is ignore when two points are provided:
     # https://drake.mit.edu/doxygen_cxx/classdrake_1_1trajectories_1_1_piecewise_polynomial.html#a06278ca4588ba1adb004b84fdfc62f3c
-    joint_configurations = np.vstack([joint_configurations, joint_configurations[-1]])
+    joint_configurations = np.vstack([joint_configurations, last_configuration])
 
     joint_times = np.linspace(0.0, duration, len(joint_configurations))
     joints_interpolated = PiecewisePolynomial.ZeroOrderHold(joint_times, joint_configurations.T)