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Hey Alba,

maybe you confuse the two operation modes?

Reset/Homing:
During homing, the fingers will stop when they hit a hard stop. This is the desired behaviour as the fingers try to find the maximum movement range. If you block them during this movement they will not be referenced properly
Normal movement:
During normal operation the controllers will try to reach the target position you have given them. Refer to this answer.

Best Regards Georg

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