R1 S/N:003 – Issue with Left Arm Roll Joint

[randaz81]

Robot Name 🤖

R1 S/N:003

Request/Failure description

From time to time, during the launch of yarprobotinterface, or during normal arm movements, the roll pitch joint moves autonomously and reaches the upper joint limit. I suppose there is an issue with encoder readings.

Detailed context

The issue can be reproduced just playing with yarpmotorgui. Currently, we disabled the whole robot arm by setting to zero all PID gains.

Additional context

No response

How does it affect you?

No response