Update on the legs. They're balancing alright but its still not rigid enough since the servo's can move/slip out of the connectors I printed for them. Normally you put 4 screws through the holes on the servo and mount that to whatever object but i'm currently using pegs that slide in. Works good for fast prototyping but ill have to design something more permanent later. (Pic removed, out-dated) Excuse my dirty desk/room lol.