Paul Maria Scheikl

Since Gymnasium uses pygame, I took a look, and they use Surface instead of display, when the render_mode is set to rgb_array. Maybe that fixes the issue? - https://github.com/Farama-Foundation/Gymnasium/blob/main/gymnasium/envs/toy_text/frozen_lake.py#L355 -...

Does not work. ```bash [ERROR] [SofaRuntime] ValueError: vector::_M_fill_insert .... self.sofa_simulation.initVisual(self._sofa_root_node) ```

Hi @alxbilger , I ported the scene to python and the FreeMotionAnimation loop. Some weird observations: - the TriangleCollisionModels did not work at all -> had to switch to SphereCollisionModel...

Hi @alxbilger , quick update: The main reason behind the instability is the `nbVirtualFinerLevels` value. If we set that to `1` -> no problem. Also for strictly convex objects, it...

Hi @Paolo-Susini , Sadly I never got it to work properly. So pinging @alxbilger again. :D Cheers, Paul

Test scene: ```python plugin_list = [ "MultiThreading", # Needed to use components [ParallelBVHNarrowPhase,ParallelBruteForceBroadPhase] "Sofa.Component.AnimationLoop", # Needed to use components [FreeMotionAnimationLoop] "Sofa.Component.Collision.Detection.Algorithm", # Needed to use components [CollisionPipeline] "Sofa.Component.Collision.Detection.Intersection", # Needed...

> So regarding your PR, does it works for you case? if yes, I would suggest to merge it and open an issue to keep in mind that this component...