Tim Schneider

Hi, after digging a bit in the code, I figured out that the issue stems from the cartesian trajectory generation in WaypointMotionGenerator. This class is using ruckig to generate a...

> While, it is not standard, I don't see why `env.render()` with `human` can't return the rgb array if available rather than `None` currently. Would this solve the issue your...

Hi, I believe this issue might be related to frankx accessing python context without locking the GIL here: https://github.com/pantor/frankx/blob/c934d7f97b2f56e1172e25106f2bde67bac5b208/include/frankx/motion_waypoint_generator.hpp#L140C1-L145C7 I maintain a [fork of frankx](https://github.com/TimSchneider42/franky), where, among other things, I...

Have you tried calling `robot.recover_from_errors()` continuously in the loop to ensure that the robot auto-recovers from errors?

Just noticed that I overlooked #872, which addresses this issue already but still needs a pull request. Apologies for the duplication! Should I close this issue in favor of #872?

I like the idea of solving human rendering with a wrapper. At least in this case, I expect it to be easier to implement and maintain, since the rgb_array image...

I think for most environments we could simply render in "rgb_array" mode and then have the wrapper you proposed render all of them side by side in a single window...

Yes, it is fixed

I agree! @keikoro, can I help you with anything to get this pull request merged?

Hi, I believe the problem you are seeing is caused by #2151. As a workaround, you can try to set your FPS to `30/1000`, which should cancel out the unit...