From 44ddf48817796f2a596d8145586ea373c1284c38 Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Tue, 24 Dec 2024 19:44:21 -0600
Subject: [PATCH] Fixup

---
 tesseract_command_language/src/utils.cpp           | 14 +++++++++-----
 .../src/profile/trajopt_default_plan_profile.cpp   |  2 +-
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/tesseract_command_language/src/utils.cpp b/tesseract_command_language/src/utils.cpp
index c7d6068e1f..45a8e4516e 100644
--- a/tesseract_command_language/src/utils.cpp
+++ b/tesseract_command_language/src/utils.cpp
@@ -241,11 +241,15 @@ bool formatJointPosition(const std::vector<std::string>& joint_names, WaypointPo
   else if (waypoint.isCartesianWaypoint())
   {
     auto& cwp = waypoint.as<CartesianWaypointPoly>();
-    if (!cwp.hasSeed())
-      throw std::runtime_error("Cartesian waypoint does not have a seed.");
-
-    jv = &(cwp.getSeed().position);
-    jn = &(cwp.getSeed().joint_names);
+    if (cwp.hasSeed())
+    {
+      jv = &(cwp.getSeed().position);
+      jn = &(cwp.getSeed().joint_names);
+    }
+    else
+    {
+      return false;
+    }
   }
   else
   {
diff --git a/tesseract_motion_planners/trajopt/src/profile/trajopt_default_plan_profile.cpp b/tesseract_motion_planners/trajopt/src/profile/trajopt_default_plan_profile.cpp
index 582203a19b..05ed8002d7 100644
--- a/tesseract_motion_planners/trajopt/src/profile/trajopt_default_plan_profile.cpp
+++ b/tesseract_motion_planners/trajopt/src/profile/trajopt_default_plan_profile.cpp
@@ -166,7 +166,7 @@ TrajOptWaypointInfo TrajOptDefaultPlanProfile::createCostAndConstraints(
     if (move_instruction.getWaypoint().isStateWaypoint())
     {
       const auto& swp = move_instruction.getWaypoint().as<StateWaypointPoly>();
-      JointWaypointPoly jwp = move_instruction.createJointWaypoint();
+      jwp = move_instruction.createJointWaypoint();
       jwp.setNames(swp.getNames());
       jwp.setPosition(swp.getPosition());
       info.fixed = true;