Piw1 still doesn't walk great, but it walks *better.* And I didn't really do anything other than put a bucket on top. It's that easy.

It's tempting to try to go directly towards adding all the electric motors, so that I can tweak every angle of it's geometry and actively counteract the imbalances, but I shouldn't. I should get it walking passively first. The better it walks without motors the better it will walk *with* motors, and I think that's worth it.

I could explain why the bucket helps but I don't want to. It'd be tedious.