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I’ve also checked that on a robot we have here, and can confirm a lack of precision for Dynamixel XL430. We give the correct value to the motor from the code, so it seems that the motors have some looseness from the inside. This is likely to happen, due to the gear ratio of the motor (258.5 : 1), and the fact that the material used is plastic instead of full metal for gears (for example, the RX Dxl motors use full metal gears).
We will try to investigate this further this week and see if there is something that can be done.