Last night I built two brackets for the front ankle to lock the front center foot into position. I used one stainless bolt to secure both of the brackets. Nice and solid. There is a little play in the shaft that holds the front ankle to the frame so I stapled a few pieces of foam to take up a little of the slack. Might need a bigger piece in the future though.
One more item I can check off the R2 todo list.
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