I 100% agree with the friction. Most creatures can only move through bouncing because their feet just slide on the floor when they walk. It would be cool to either see settings that change the floors friction and/or having a "stickier" joint or a joint that the creature can use to grasp the ground with.(That way the entire creature doesn't just stick to the ground)
For climbing it would be super helpful if the building screen showed what the starting stairs looked like(along with the running and jumping modes showed the ground plane and the obstacle jump showed the obstacle.) Something that could be toggled so it wont be distracting for some people.