I worked a little bit more on this robot today. Nothing exciting -- adjusted the servo angles in the inverse kinematics, upgraded to the newest version of MicroPython, recharged the dying battery, mapped the servos to the right joints on the right legs, etc. I also published the code and design files in a repository -- link on the left side, under the photos.
This is really taking so much time mostly because I had so many other things to do in the mean time. Hopefully the robot will walk soon.