I've seen a very similar #bug in #humanoid #robotics several times, I believe both being due to an insufficient #primitive being used to store #time https://www.hanselman.com/blog/the-code-.. The one that happened most recent was the use of a `long` value to store time, which would overflow and cause the #motion #planning to really get confused and the #robot would try to kill itself in a creative way before #crashing !