diff --git a/python/curves_python.cpp b/python/curves_python.cpp
index 5a561d7e4e49eac311385d1df916d4050a1afaf3..715488a526aecc5ac757e7eaeb17767a740e352b 100644
--- a/python/curves_python.cpp
+++ b/python/curves_python.cpp
@@ -360,6 +360,8 @@ Motion_t piecewiseSE3ReturnDerivatePinocchio(const piecewise_SE3_curve_t& curve,
 }
 
 void addFinalSE3(piecewise_SE3_curve_t& self, const SE3_t& end, const real time) {
+  if(self.num_curves() == 0)
+    throw std::runtime_error("Piecewise append : you need to add at least one curve before using append(finalPoint) method.");
   if (self.is_continuous(1) && self.num_curves()>1 )
     std::cout << "Warning: by adding this final transform to the piecewise curve, you loose C1 continuity and only "
                  "guarantee C0 continuity."
@@ -378,6 +380,8 @@ matrix3_t piecewiseSE3returnRotation(const piecewise_SE3_curve_t& curve, const r
 pointX_t piecewiseSE3returnTranslation(const piecewise_SE3_curve_t& curve, const real t) { return pointX_t(curve(t).translation()); }
 
 void addFinalTransform(piecewise_SE3_curve_t& self, const matrix4_t& end, const real time) {
+  if(self.num_curves() == 0)
+    throw std::runtime_error("Piecewise append : you need to add at least one curve before using append(finalPoint) method.");
   if (self.is_continuous(1) && self.num_curves()>1 )
     std::cout << "Warning: by adding this final transform to the piecewise curve, you loose C1 continuity and only "
                  "guarantee C0 continuity."
diff --git a/python/test/test.py b/python/test/test.py
index de0996bcf61954e2482d37745969adec8e0a94f4..a44dbe5b76747c8589cdca2e1b9c92a5e742a646 100644
--- a/python/test/test.py
+++ b/python/test/test.py
@@ -638,6 +638,9 @@ class TestCurves(unittest.TestCase):
         self.assertTrue(isclose(pmin[0:3, 3], translation(min)).all())
         self.assertTrue(isclose(pmax[0:3, 3], end_translation).all())
         self.assertTrue(pc.is_continuous(0))
+      pc = piecewise_SE3_curve()
+      with self.assertRaises(RuntimeError):
+        pc.append(end_pose,max)
 
     if CURVES_WITH_PINOCCHIO_SUPPORT: