fix gripper action

mrceki · Mar 8, 2023 · 69d3100 · 69d3100
1 parent ea60221
commit 69d3100
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/moveit_task_constructor/core/src/storage.cpp b/moveit_task_constructor/core/src/storage.cpp
@@ -221,7 +221,7 @@ void SubTrajectory::fillMessage(moveit_task_constructor_msgs::Solution& msg, Int
 	moveit_task_constructor_msgs::SubTrajectory& t = msg.sub_trajectory.back();
 	SolutionBase::fillInfo(t.info, introspection);
 
-	if (trajectory())
+	if (trajectory() && trajectory()->getWayPointDurationFromStart(trajectory()->getWayPointCount() - 1) > 0.0)
 		trajectory()->getRobotTrajectoryMsg(t.trajectory);
 
 	this->end()->scene()->getPlanningSceneDiffMsg(t.scene_diff);