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I never could get the grenade throw actions to work as expected. However I have a solution.
First add a "Inventory" command, found under "entity".
Use the "take" action and select the grenade as the "item".
This will force your guy to equip the grenade.
Next Add delay of 0.5
Then add an "action" command.
For action use "attack_ground" and specify the "waypoint".
He will throw the grenade at the waypoint and then switch back to his primary weapon and start shooting at the waypoint.
You may need to add a delay after the "action" command and give him addition commands if you don't want him to stand there shooting at the waypoint.
Good luck & Cheers mate.