diff --git a/source/armarx/control/pointing/core/Pointing.cpp b/source/armarx/control/pointing/core/Pointing.cpp
index f10ca43c321c3d6189d5119144088162f7873ebf..91f13a70df14b0934aec97f56f7fd5361fb2abf3 100644
--- a/source/armarx/control/pointing/core/Pointing.cpp
+++ b/source/armarx/control/pointing/core/Pointing.cpp
@@ -38,10 +38,17 @@ namespace armarx::control::pointing::core
             addHandTrajectory(robot, traj, shapeJointValues);
         }
 
-        traj = traj->calculateTimeOptimalTrajectory(
-            params.maxVelocity, params.maxAcceleration, 0.0, IceUtil::Time::milliSeconds(10));
+        if (traj->dim() > 0)
+        {
+            traj = traj->calculateTimeOptimalTrajectory(
+                params.maxVelocity, params.maxAcceleration, 0.0, IceUtil::Time::milliSeconds(10));
 
-        playTrajectory(traj);
+            playTrajectory(traj);
+        }
+        else
+        {
+            ARMARX_INFO << "Already pointing at target";
+        }
     }
 
     void
@@ -89,7 +96,7 @@ namespace armarx::control::pointing::core
         }
         ARMARX_VERBOSE << "Done computing trajectory";
 
-        if (traj->getLength() == 1) // already pointing at target
+        if (traj->size() == 1) // already pointing at target
         {
             return armarx::TrajectoryPtr(new Trajectory);
         }
diff --git a/source/armarx/control/pointing/core/PointingIK.h b/source/armarx/control/pointing/core/PointingIK.h
index 028e5b4b97dcf70250b25b1b6ec59f27307a7647..8660d52ab28d4f5ce26be320a44e13c42146d7e0 100644
--- a/source/armarx/control/pointing/core/PointingIK.h
+++ b/source/armarx/control/pointing/core/PointingIK.h
@@ -47,7 +47,8 @@ namespace armarx::control::pointing::core
          *
          * @param target Target position to point at in the global coordinate system (mm).
          * @return The computed trajectory. Null if no solution was found. If the robot has already
-         *         pointed at the target, the trajectory only contains the initial timestep.
+         *         pointed at the target, the trajectory only contains the initial timestep (i.e.
+         *         size()==1).
          */
         TrajectoryPtr computeTrajectory(Eigen::Vector3f& target);