The 1.14.0 update: what changes for your app
Two movements requested at once no longer blend: the second is refused. And when an app stops, the robot no longer goes to bed by itself. Two changes to account for.
Movement
Head, neck and body: nine motors that must agree. 4 of 4 skills learned.
When the head gets stuck: two causes, four safeguards
Four lock-ups in one week. A gesture that copied the wrong position, a start that was too abrupt: how to free the head, and what stops it from happening again.
It bumps its own shell: measuring where the head can really go
A tilted head, no reaction, a restart. The maker's 3D model was off by 10 to 15 degrees, so I measured the limits on the robot: −40° on one side, +75° on the other.
Why my robot's body was twitching: ±0.4° at 3.4 Hz, and the gain that fixed it
A tiny left-right oscillation after some movements. Measured, explained as a limit cycle of the body's servo, and fixed by lowering one gain from 200 to 120.