Hung Pham (Phạm Tiến Hùng)

I have the same issue. The log file contains this error ``` Sun Jan 15 13:18:20 2023 - code-review--build-buffer - (wrong-type-argument number-or-marker-p nil) ```

Hi, you can try using `Interpolation` discretization scheme.

See https://hungpham2511.github.io/toppra/python_api.html?highlight=collocation#toppra.constraint.DiscretizationType.Interpolation

Hi, thanks for the PR. Let me get back to you real soon.