This is great work. I find that they tend toward strategies that involve configuring themselves to lean to the right and then vibrating their muscles. Would be neat to see what happens if you figured out a way to reduce the minimum muscle flex so that it can't vibrate.
Thanks so much for this! A lot of great ideas in here. I didn't have much time to fine tune everything and in the end I wasn't super happy with a lot of hte things you've pointed out in here. When I get a chance to do some touchups I'll definitely be referring to this comment for guidance. Thanks!
