Basic Assembly and Setup

I have been through the Bittle calibration process multiple times, but am stumped. I can fine tune the calibration of all joints using for example - c14 -4 and I think it looks good. However, I don't seem to get any movements beyond a slight rise to attention - even when asking for walk forward. 'd' initiates a slight rise. Does anyone have any pointers for me to check?

Thanks!

Oli