It's nice to have joints "half-contracted" to the point where, instead of contracting and extending, you use the "x" key to hold the joints. It's also good to have a tripod stance, where you have a hand held against the ground. What you want is your front foot to the left or right, and your back foot opposite the front direction to have a wider center of gravity. If you line up your feet, you have more places to fall. Its like trying to stay up straight on a still bicycle. But, offset legs make "training wheels".