The character balancing algorithms are very interesting. The demo shown in class looks like the character really masters Karate lol. In the video of animals, we find many of the jumping instead of walking. I think in real life jumping is also a “very balanced” way of movement, but it costs more energy than walking, that’s why we are not doing it. Therefore, I think maybe we could add an additional restriction that minimize the cost of energy in the movement to avoid that behavior.