An alternative type of bone/joint that when it touches the ground greatly reduces the fitness and so lets you get the type of movement you want (for example not dragging on the ground or lunging) more reliably without having to mess with Mutation rate/keeping the best creatures.
Making getting the type of movement you want less time intensive.
I like this, Whitefox2, but I'm thinking a slight variation of it would be better, so I'm going to post my variation in a separate reply and credit you with the original idea. I already upvoted this suggestion. Please look for my "SENSITIVE JOINTS" suggestion (which I will write after I post this reply to you) and consider upvoting it as well. :) Thanks.
