I was at a conference all day today with JD. I had him running the 'pushups action.'
He worked perfectly well for several hours. Then I noticed that the right shoulder servo wasn't moving fluidly and causing the action to fail (JD couldn't stand up).
I recalibrated the servo several times without any luck. When the power is off, I notice that the left shoulder servo can be moved quite easily. The right shoulder servo is really stiff. I removed the black screw thinking it was too tight. No luck.