Snip off the sprue end of the quadruped just where the waxes end. This should open up those two holes at the bottom. Set your oven for 300F and pop the quadruped in on a disposable pan or a tray with a lot of aluminum foil for 20 minutes. After it's heated up, start squeezing it over a sink with your heatproof gloves on. By massaging the body of the quadruped, you should be able to get a whole lot of the liquid wax out. After that, pour some soap in the holes, add some water, and return it to the oven at 200F. Be careful not to get it too hot as wax and water can suddenly pop- like dropping water into boiling oil. You don't want to get burned. It would also probably be a good idea to put on your science safety goggles.
After getting the soapy water out, keep filling the quadruped with water and rinsing it out. No need to return it to the oven after a second heating as the wax that's left will be broken up into little pieces. I made myself a little sink nozzle to inflate the quadruped with water. When the water sloshes back out it carries a lot of the wax bits embedded deep in the inner recesses away. When the water comes out clean, you know your robot is ready to go. Leave it to dry in a warm oven or on a dish rack.