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The most time-consuming part is setting up the motion of the legs with the timers and rotor/hinge speeds. Setting the correct rotor/hinge limits can also be tricky at first.
I would be happy to take a look in your world and can bring some of my blueprint examples so you can get a rough idea of how to set up the legs.
First, is your mech able to stand on its own or does it slowly lower itself to the ground under its own weight? If so, you may need to increase rotor/hinge torque to compensate. If that doesn't help and you're using small-grid, you may actually have to add pistons to support the leg like a hydraulic brace.
How many joints do the legs have (e.g., is it a simple scissor-like movement similar to the 6-leg example or is it more of a crawl with a hip, knee, and ankle joint)?
For forward/backward motion, your legs need to alternate starting positions (i.e., if the front left is outstretched, the front right needs to be pulled in, the back right needs to be outstretched, and the back left needs to be pulled in).
Hopefully it will be around as cool as the ones in the tutorial. Or fit in with my other work. Maybe I'll focus on the hips and legs then use that as a base point to make many tops. Or do you guys think much of the upper parts have to be made with the walking legs to get them functional?