Good morning Pierre
We have fixed the problem, as you described!
Somehow, the motors limits were set to [None, None].
For the reachy.left_arm.arm_yaw._motor the rot_position_limit was also set to [None, None], however that one did not give us any issues.
Is there a way where we can provide checks during initial setup? Can that be included in the sourcecode / documentation?
Merci beaucoup!