diff --git a/tesseract_motion_planners/core/src/utils.cpp b/tesseract_motion_planners/core/src/utils.cpp
index f8e2da6834a..9705348d93a 100644
--- a/tesseract_motion_planners/core/src/utils.cpp
+++ b/tesseract_motion_planners/core/src/utils.cpp
@@ -318,7 +318,7 @@ bool contactCheckProgram(std::vector<tesseract_collision::ContactResultMap>& con
     // Grab the first waypoint to get the joint names
     const auto& joint_names = getJointNames(mi.front().get().as<MoveInstructionPoly>().getWaypoint());
     traj_contacts =
-        std::make_unique<tesseract_collision::ContactTrajectoryResults>(joint_names, static_cast<int>(program.size()));
+        std::make_unique<tesseract_collision::ContactTrajectoryResults>(joint_names, static_cast<int>(mi.size()));
   }
 
   contacts.clear();
@@ -625,7 +625,7 @@ bool contactCheckProgram(std::vector<tesseract_collision::ContactResultMap>& con
     // Grab the first waypoint to get the joint names
     const auto& joint_names = getJointNames(mi.front().get().as<MoveInstructionPoly>().getWaypoint());
     traj_contacts =
-        std::make_unique<tesseract_collision::ContactTrajectoryResults>(joint_names, static_cast<int>(program.size()));
+        std::make_unique<tesseract_collision::ContactTrajectoryResults>(joint_names, static_cast<int>(mi.size()));
   }
 
   contacts.clear();