Bittle X Knees and Arms go in the wrong direction when standing and walking

Awhile back I posted a "BiBoard V0 Servo-to-Pin Map". It can be found here: https://www.petoi.camp/forum/basic-assembly-and-setup/biboard-v0-servo-to-pin-map

The key is to match the servo number with the pin number to see if it is wired correctly. Perhaps update your photo with the servo numbers (trace the wires back to confirm they go where they should go).

Update 1:

You can also move Bittle to the "calilb" posture by sending "k calib" (spaces are now allowed between the token and the parameters that follow) then check each servo one at a time by sending "i <servo_ #> <angle_to_move_to>. E.g. sending "i 8 25" moves servo #8 (left front shoulder joint servo) to 25 degrees.

See this link for where the joint servo "zero" angle positions are in the "calib" posture: https://docs.petoi.com/joint-calibration#the-logic-behind-calibration-is

Thanks for sharing wiring details. They confirmed my guess: the shoulder and knee servos are swapped. Please check this picture to rearrange the wiring. You can ignore numbers but focus on the location of each pin. The shorter cable for the shoulders should always be in the middle of each group. The knee servos should be in the inner side of the group.

https://docs.petoi.com/petoi-robot-joint-index#bittle-1