When changing the position of r_shoulder_y from -90 to 0, r_shoulder_x motor is falling down to -30° and impossible to set a position under this -30°.
I changed the torque_max of MX_28 in the configuration, it change nothing… (anyway the present load is very low !) I check mass, inertia, and all parameters, nothing different from the left arm which works good.
Here an image (r and l_shoulder_x at -90° and 90° / l and r shoulder_y at 0), the difference between each side is obvious :
What I understand is that r_shoulder_x can’t support the load and goes to -30 (with r_shoulder_y at -90 r_shoulder_x is really unloaded and it works !!!)
This is a V-REP behavior because Pypot send a good value to V-REP
If someone can help me, I think I’m going to turn mad if I continu to search…
This is with the new light poppy_respondable in V-REP but I checked with the previous heavy and slow poppy and it is the same.