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the only thing wee still miss for a really good one is a angel sensor
the dev's said that they are working on it but that they run into some difficulties with it.
with it it would be super easy to balance bipedal walkers
and this would be my try at a bipedal walker
https://gph.is/2CUH7rE
if thos legs arent complex enugh than idk
but it was the best i could do with that frame
they have much mor friction than normal blocks(and probably wheels).
but i have to agree that some dedicated friction blocks would be awesome