Hello, I have completed the build of Nybble, and now it's down to fine tuning the actions. Most of them work well(rest, balance, calibrate, look up, butt up, greeting, push up, stretch, sit), but those that are not postures(trot and step) are unstable and often results in Nybble falling down. Crawl and walk are much better compared to the others, because it is slower. His main body moves wildly from side to side when trotting and stepping. If the main body moves too much, he falls onto his side or back(he falls right over when stepping). Also, he isn't able to recover, even when performing the actions that supposedly allows him to recover. When doing the 'pee' action, he also falls down(probably because it is unbalanced). In the videos(https://www.youtube.com/watch?v=ZX17mcpGfp8&ab_channel=RongzhongLi), his walking, trotting and stepping are all very stable(his body doesn't sway from side to side), and he is able to effortlessly move forward with each step. How can I achieve this? Should I increase the weight of the center of mass or increase the friction of the feet? Or recalibrate Nybble? Any suggestions? Recovery doesn't work: Stepping is unbalanced: Trotting is a little unstable(possibly not enough friction?) Walking is somewhat better than trotting Pee always causes Nybble to fall down, unless you hold him still the first few seconds. Thanks.