diff --git a/choreolib/src/main/java/choreo/auto/AutoTrajectory.java b/choreolib/src/main/java/choreo/auto/AutoTrajectory.java
index b9a2884e84..cf39681022 100644
--- a/choreolib/src/main/java/choreo/auto/AutoTrajectory.java
+++ b/choreolib/src/main/java/choreo/auto/AutoTrajectory.java
@@ -222,7 +222,8 @@ public Command cmd() {
             this::cmdEnd,
             this::cmdIsFinished,
             driveSubsystem)
-        .withName("Trajectory_" + name);
+        .withName("Trajectory_" + name)
+        .onlyIf(routine.active());
   }
 
   /**
diff --git a/choreolib/src/test/java/choreo/auto/DoneTest.java b/choreolib/src/test/java/choreo/auto/DoneTest.java
index b44cd73688..30374b948c 100644
--- a/choreolib/src/test/java/choreo/auto/DoneTest.java
+++ b/choreolib/src/test/java/choreo/auto/DoneTest.java
@@ -68,6 +68,7 @@ public void testExecution() {
     assertFalse(recentlyDone);
 
     scheduler.schedule(routine.cmd());
+    scheduler.run(); // requred to mark routine active
     scheduler.schedule(traj.cmd());
     scheduler.run();