This is why humanoid robots in SimplePlanes don’t work even though they have the same joints as a real human! Look at a human walk... you might go duh I replicated the walk step everything but my mech doesn't work. Did you think of weight distribution!!! THERE LIES THE PROBLEM. When you walk your weight shifts as you walk, but I hear you say. I don’t tilt my body right and left when I walk. Your right and wrong. Try walking slowly about one step every 3 seconds. And you will fell your whole body shift. But I hear you say also, but I don’t tilt right and left when I walk. Yes, but you have forward momentum which helps minimize your need to shift your weight as much. So SimplePlanes mechs need to be able to weight shift to properly work and do less of it as there speed increases, and finally need a gyro. Humans kinda have one, a fluid in the head that says where up and down is. But there are mechs on sp that do use momentum and a gyro 2/3 things mechs need GAMF-01 Phoebe by Lumain300 uses all but weight shift and if you use the jet pack pitch forward and yaw right and left when In walk mode and it works very well.