Calibration issues?
I have the legs hitting in what I can only assume is correct calibration. Nearly every pose works really well but walking results in the legs contacting the body. I've redone calibration and the flashing several times. It also seems like when it's walking it dips to the right side and loses balance often.
https://youtu.be/dx4nNcGdofA
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Please remove the toe covers for better walking performance.
The knee servos will hit the shoulder in some cases. It won't matter too much and can be tuned if we change some parameters.
If you activate the calibration mode and take a picture from the sides, we can see better if the joints are calibrated correctly.