diff --git a/source/RobotAPI/components/DSObstacleAvoidance/DSObstacleAvoidance.cpp b/source/RobotAPI/components/DSObstacleAvoidance/DSObstacleAvoidance.cpp
index 4a83bdedaabbabcc2f46bc4e2815a826ee661156..a1be9a1ff18a6d9c86a570b75d5b9079f9ae8b68 100644
--- a/source/RobotAPI/components/DSObstacleAvoidance/DSObstacleAvoidance.cpp
+++ b/source/RobotAPI/components/DSObstacleAvoidance/DSObstacleAvoidance.cpp
@@ -549,17 +549,23 @@ armarx::DSObstacleAvoidance::run_visualization()
     Layer layer_sms = arviz.layer("safety_margins");
     Layer layer_rps = arviz.layer("reference_points");
     Layer layer_bbs = arviz.layer("bounding_boxes");
-    Color color = Color::red(255, 128);
-    Color color_m = Color::red(255, 64);
-
-    if (not m_doa.cfg.only_2d)
-    {
-        color = Color::blue(255, 128);
-        color_m = Color::blue(255, 64);
-    }
 
     for (const obstacledetection::Obstacle& obstacle : getObstacles())
     {
+        Color color = Color::orange(255, 128);
+        Color color_m = Color::orange(255, 64);
+
+        if (obstacle.name == "human")
+        {
+            color = Color::red(255, 128);
+            color_m = Color::red(255, 64);
+        }
+        else if (not m_doa.cfg.only_2d)
+        {
+            color = Color::blue(255, 128);
+            color_m = Color::blue(255, 64);
+        }
+
         const double safetyMarginZ = m_doa.cfg.only_2d ? 1 : obstacle.safetyMarginZ;
         const double posZ = m_doa.cfg.only_2d ? 1 : obstacle.posZ;
         const double refPosZ = m_doa.cfg.only_2d ? 1 : obstacle.refPosZ;
@@ -574,6 +580,7 @@ armarx::DSObstacleAvoidance::run_visualization()
 
         if (m_doa.cfg.only_2d)
         {
+
             layer_obs.add(Cylindroid{obstacle.name}
                           .pose(pose)
                           .axisLengths(dim.head<2>())
diff --git a/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp b/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp
index 46515a2c2f9a61acbaf63c186920478dab82cb1c..e712e30ccb2978fdc7caa0210b919773b7dce46b 100644
--- a/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp
+++ b/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp
@@ -234,7 +234,9 @@ namespace armarx
 
     void DynamicObstacleManager::wait_unitl_obstacles_are_ready(const Ice::Current&)
     {
-        usleep(m_min_value_for_accepting);
+        ARMARX_INFO << "Waiting for obstacles to get ready";
+        usleep(2.0 * m_min_value_for_accepting);
+        ARMARX_INFO << "Finished waiting for obstacles";
     }