diff --git a/common/src/environment_wrapper.cpp b/common/src/environment_wrapper.cpp
index c6ee72d0..12fa1de0 100644
--- a/common/src/environment_wrapper.cpp
+++ b/common/src/environment_wrapper.cpp
@@ -358,7 +358,11 @@ DefaultEnvironmentWrapper::DefaultEnvironmentWrapper(ComponentInfo component_inf
   qGuiApp->installEventFilter(this);
 }
 
-DefaultEnvironmentWrapper::~DefaultEnvironmentWrapper() = default;
+DefaultEnvironmentWrapper::~DefaultEnvironmentWrapper()
+{
+  if (initialized_ && env_)
+    env_->removeEventCallback(std::hash<EnvironmentWrapper*>()(this));
+}
 
 std::shared_ptr<const tesseract_environment::Environment> DefaultEnvironmentWrapper::getEnvironment() const
 {
@@ -389,7 +393,12 @@ MonitorEnvironmentWrapper::MonitorEnvironmentWrapper(
   // Install event filter for interactive view controller
   qGuiApp->installEventFilter(this);
 }
-MonitorEnvironmentWrapper::~MonitorEnvironmentWrapper() = default;
+
+MonitorEnvironmentWrapper::~MonitorEnvironmentWrapper()
+{
+  if (initialized_ && env_monitor_)
+    environment().removeEventCallback(std::hash<EnvironmentWrapper*>()(this));
+}
 
 std::shared_ptr<const tesseract_environment::Environment> MonitorEnvironmentWrapper::getEnvironment() const
 {
diff --git a/joint_trajectory/src/models/joint_trajectory_model.cpp b/joint_trajectory/src/models/joint_trajectory_model.cpp
index f5d1f66a..2587f978 100644
--- a/joint_trajectory/src/models/joint_trajectory_model.cpp
+++ b/joint_trajectory/src/models/joint_trajectory_model.cpp
@@ -81,7 +81,7 @@ void JointTrajectoryModel::addJointTrajectorySet(tesseract_common::JointTrajecto
     if (env_wrapper != nullptr)
     {
       auto env = env_wrapper->getEnvironment();
-      if (env != nullptr || env->isInitialized())
+      if (env != nullptr && env->isInitialized())
         trajectory_set.applyEnvironment(env->clone());
     }
     else
@@ -90,7 +90,7 @@ void JointTrajectoryModel::addJointTrajectorySet(tesseract_common::JointTrajecto
       if (env_wrapper != nullptr)
       {
         auto env = env_wrapper->getEnvironment();
-        if (env != nullptr || env->isInitialized())
+        if (env != nullptr && env->isInitialized())
           trajectory_set.applyEnvironment(env->clone());
       }
     }