Well done! Do you have plans to refine the 3D printed shapes? Adding something to the tips of each leg will help with traction and noise (a bit of rubber for example). Encourage you to write a parts list and share the code (if you’re willing).
Sorry for taking too long. You’re right, thats the original models I got from instrictables. I made some customizations in the original parts for my projects, but that’s not a big deal. The project is not done yet, I’ill update it as it goes on.