Hi, @samuellongo . . . I moved your post to this thread for leg/foot/servo issues.
Have you upgraded the app and firmware on EMO to the new 2.3.0 yet?
I would try doing this first to see if this might correct the issue even though the upgrade is mostly adding language support as bug fixes are included as well.
If upgrading does not work, you can contact @MavisZhang to see what your options are for recalibration or repairing yourself.