Thanks, great reply!
I will start playing with those options. I hadn't even changed those at all yet. Especially mutation rate, I wasn't exactly sure how that worked. I'll start with that one and start introducing the others over time.
I've cut the legs down a little bit and strengthened the core, too. Cut it down to 8 muscles. It's climbing the stairs right now. Exactly like I was hoping I did get it to go from consistently falling down the stairs to hanging on the edge. It looks like it *wants* to start hopping up. But it's been about 900 generations and I've only seen it jump a couple of times.
It's going to make a really cool video watching it grow in all 4 simulations at once.