V2 and when runing the find_soft_offsets file twisting the head components

Hei, apirrone, thanks for your time .

our replica work is being the final step: run find_soft_offsets file

the issue is ,
1. when I conduct the fist step , the robot's head also roatate and into a werid orientation.and twisted and broken the component. I would like to know when operate the 1st motor's joint , the head and right leg moving the same time , it is normal situation ?

2. is there more detailed instruction about this key step?

3. self.init_pos's parameter is fixed ,we need not modify it , and just set the offsets parameter into the duck.json file.