Fixed the timing problem !

rmscript_app/main.py

@@ -222,9 +222,7 @@ class RmscriptApp(ReachyMiniApp):
                         body_yaw=action.body_yaw,
                         duration=action.duration,
                     )
-                    # Wait for movement to complete (check abort during wait)
-                    wait_time = action.duration + 0.05
-                    self._interruptible_sleep(wait_time)
+                    # goto_target() is blocking - it waits for task completion internally
                 elif action.type == "wait":
                     self._interruptible_sleep(action.duration)
                 elif action.type == "picture":