The Dynamixel XH540-V150-R has a resolution of 4096 pulses per 360° rotation,
which means 1 pulse ≈ 0.08789°.
Since the backlash is 0.25° (15 arcmin), it can be converted to approximately ±3 pulses of position fluctuation.
As a result, the Present Position may fluctuate within a range of ±3 pulses.
To mitigate this issue, it is recommended to set POSITION_D_GAIN to 0
to reduce the response to speed variations and prevent unnecessary fine adjustments.