On my bot now running this veraion…I think ( I hope ) that is the latest version 
viewtopic.php?f=4&t=8071&start=15
For 4dof apod, if the only work is add Tars pins , switch 4dof support and recalibrate new servo horn offsets, It doesn’t seams to be an hard work …seams to change samething only in the Cfg file isn’t it?
Yes I have to change the legs design…I’ll work on it;-)