@Rongzhong Li Thanks! Stepping works when I press CH, when it is really quick. Is there a way to make the recovery work? Video of failed recovery:

I checked again and found that one of the front legs were not right. After fixing that, the walk and trot are much more stable. Pee also works now😀. But step for some reason doesn't cause him to fall down, but still makes him sway side to side almost 90 degrees.

Yes, I did. Unfortunately, I do not see a way to make sure the thigh is 90 degrees to the main body, but the thigh and leg should work.