See this post for improved instructions!
By request I created building instructions for Agilis. Well, sort of. It is a series of photos made while taking one of Agilis legs apart. Presented to you in reverse order, so that it looks like a building instruction.
One warning before you start. The gear box can be assambled very easily, but it cannot be disassambled without some tools and, potentially, some damage.
The gear box displayed is for a 1:3.33 gear ratio. Here you find a picture of a 1:2 gear box. I think the 1:2 gear box is a better option.
The part list in the pictures 1 to 5 is for one leg only. Also I did not have the parts to make a nice color scheme so you might end up with a rainbow warrior in black and white if you follow my color scheme.
Please send me a message or picture when you built Agilis.
NXT time 
Thanks for sharing these. I find with gearboxes made in that way that a sharp knife can be used to gently slide axles out with only a small amount of damage, normally!
That is exactly how I did it.
Yes, thanks for sharing. Have you tried to use LEGO Digital Designer (LDD) to model the robot? It will also produce building instructions for you! (not all parts may be available, like the omni-wheels)
Best,
-K
Hi Kirk, LDD does not allow me to make the base connection of the triangle(see this picture). The distance between the two half width beams is less than zero.
I don’t understand why you made the gear box that way – wouldn’t it have been easier to put in one long axle with 2 bushings on it incited of a axle joiner – then you can use another, longer axle to push it out.
Good point.