Apart from some minor changes to some of the axles, everything prints nicely and fits together well. I printed everything on an Ultimaker in PLA with 20% fill, 200°C nozzle, 60°C bed, 50 mm/s, 0.1mm layers, sometimes supported, always with a skirt.

I still have to program the electronics, but did not get to it yet. I will upload movies when I have it moving.