Hello, @hococu . . . I have moved your new topic and conversation to this thread for issues with the legs and feet which you say EMO is not walking straight. This may mean that he needs calibration or repair to his servos and/or wires which you can request Support to assist you with by getting video of the issue and sending a link along with a description of the issue, your EMO I.D. number and order number (if you still have it) to service@living.ai . . . also, you need to make sure that EMO has a safe area that is bordered by some type of walls to keep him from falling off of the table. See here for some ideas.
As for not speaking to the home station when leaving, the LivingAI team has already been informed of this issue and perhaps it will be corrected on the next firmware update.
My best to you!