Trouble with make rotation from axis

Hi guys. I have a small problem with rotating a robot with a “make rotation from axis” node.
It all works except it rotates around the x axis unexpectedly, I guess it’s the roll. I thought setting the right and up axis would solve it. Maybe because the normal and direction are not 100% orthogonal?
Here’s a video with the robot’s axis in rgb:
and here’s my code:

Here’s a picture, still unsure why the other node didn’t work.