Suggestion: ADD MUSCLE ON/OFF TO NEURAL NETWORK --- I don't know whether the muscles are simply set to push r pull at full strength or have different levels of push and pull (which I think would be much better, though more computationally intensive), but they do seem to be always either pushing or pulling. I would like to suggest that the neural network should be able to opt to turn a muscle off completely, so it would still have it's passive springy tendency toward its original length but would neither actively push nor actively pull. When set to show "EXPANDING" in blue and "CONTRACTING" in red, neutral or turned off could be shown in purple.