Resolve Issue with Servo Motor Angles in Robot Dog -- 2

I am currently working on a robot dog project that uses a PCA9685 control board to control 12 servo motors. The setup is as follows: Right front knee Right front shoulder Right front hip Right back knee Right back shoulder Right back hip Left back knee Left back shoulder Left back hip Left front knee Left front shoulder Left front hip I am experiencing an issue where the proportional commands are being clipped to -1.0 and +1.0, as shown in the warning messages below: [ WARN] [1681936389.189290123]: Proportional Command below -1.0 was computed, clipped to -1.0 [ WARN] [1681936389.190093685]: Joint LB_3, Angle: -128.63 ... [ WARN] [1681936389.191683476]: Proportional Command above +1.0 was computed, clipped to 1.0 [ WARN] [1681936389.192174413]: Joint RB_3, Angle: 128.63 I need help resolving this issue without making any physical adjustments to the robot dog. I would appreciate any guidance on how to modify my code to prevent the proportional commands from being clipped and ensure that the servo motors can be adjusted smoothly within their working range. this is the reference for the project: [login to view URL] Any suggestions or advice on how to fix this issue would be greatly appreciated. Thank you!