Yes, I have another Arduino Uno which is Arduino Uno Wifi REV2. Yes, I think so.
After looking a bit more on the topic, I think the main issue is that I am doing the upload using a USB cable.
"On Uno, Nano, Mini, and Mega, pins 0 and 1 are used for communication with the computer. Connecting anything to these pins can interfere with that communication, including causing failed uploads to the board."
So normally, if I upload the sketch (for example testBraccio90) without the Braccio shield on top, and then I add it, the robot works as predicted. The only problem is that I am trying to communicate with Raspberry Pi, so when I add the shield, the robot stops sending information to the raspberry.