It's positioned correctly. The right arm has a range where it stops turning while the other arm's servo motors keep turning until the analog is released. Could it be a program error or servo?

I think,　Sample script is 120 degrees servo's script.
I modified some parameters. But not perfect. I still do not understand the meaning of 1.66.

9,11c9,11
< LLR = 20 #Left analog stick Left - Right
< LUD = 120 #Left analog stick UP - DOWN
< RLR = 100 #Right analog stick Left - Right
---
> LLR = 70 #Left analog stick Left - Right
> LUD = 180 #Left analog stick UP - DOWN
> RLR = 110 #Right analog stick Left - Right
60c60
< com.write("#PS07A040T001")
---
> com.write("#PS07A070T001")
65c65
< com.write("#PS04A080T001")
---
> com.write("#PS04A110T001")
70c70
< com.write("#PS07A080T001")
---
> com.write("#PS07A110T001")
75c75
< com.write("#PS04A040T001")
---
> com.write("#PS04A070T001")
118c118
< com.write("#PS07A060T001")
---
> com.write("#PS07A090T001")
122c122
< com.write("#PS04A060T001")
---
> com.write("#PS04A090T001")
126c126
< com.write("#PS07A060T001")
---
> com.write("#PS07A090T001")
130c130
< com.write("#PS04A060T001")
---
> com.write("#PS04A090T001")
156,159c156,159
< a_data = (int(a_data/2.13) - 120) * -1
< a_data =int(( a_data - 60) * 1.66 + 20)
< if a_data <= 20:
< a_data = 20
---
> a_data = (int(a_data/1.43) - 180) * -1
> a_data =int(( a_data - 90) * 1.66 + 70)
> if a_data <= 70:
> a_data = 70
165c165
< a_data = int(a_data/2.13)
---
> a_data = int(a_data/1.43)
167,168c167,168
< if a_data >= 120:
< a_data = 120
---
> if a_data >= 180:
> a_data = 180
174c174
< a_data = (int(a_data/2.13) - 120) * -1
---
> a_data = (int(a_data/1.43) - 180) * -1
176,177c176,177
< if a_data >= 100:
< a_data = 100
---
> if a_data >= 110:
> a_data = 110
183,184c183,184
< a_data = (int(a_data/2.13) - 120) * -1
< a_data = (a_data - 60 ) * 2
---
> a_data = (int(a_data/1.43) - 180) * -1
> a_data = (a_data - 90 ) * 2

Hi

Sorry, I had uploaded the old version. It is mistake.
I used 120 degrees servos for the prototype of RAPIRO.
The old version was written for the prototype of RAPIRO.

I have uploaded 180 degrees version now.
http://www.kiluck.co.jp/rapiro/rapiro_ps3_ver0_1.py

Shota