diff --git a/embodichain/lab/gym/envs/action_bank/configurable_action.py b/embodichain/lab/gym/envs/action_bank/configurable_action.py
index 9216d640..964c2b1c 100644
--- a/embodichain/lab/gym/envs/action_bank/configurable_action.py
+++ b/embodichain/lab/gym/envs/action_bank/configurable_action.py
@@ -1324,7 +1324,8 @@ def plan_trajectory(
 
         if len(filtered_keyposes) == 1 and len(ref_poses) == 0:
 
-            ret = np.array([filtered_keyposes[0]] * duration)
+            return np.array([filtered_keyposes[0]] * duration).T
+
         else:
             mo_gen = MotionGenerator(
                 cfg=MotionGenCfg(planner_cfg=ToppraPlannerCfg(robot_uid=env.robot.uid))