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Here's an update on the project, next goal is to write some code for homing the foot joint. After that i will probably work on the knee joint.
If you want to make your own, all the info that I will give you right now is the files I'm working on. As soon as I have more files finished, I will publish them. Edit: v0.3 https://www.thingiverse.com/thing:4659030
At this point I don't recommend building your own, but you're welcome to do so.
If you want to support me you can do that at https://www.patreon.com/Jacky0815.