limited space, we couldn't answer all of the reviewers ' clarification queries but promise to include in the final version

We thank the reviewers for their feedback. The reviewers R1 and R3 suggested additional experiments. We report those results and address other concerns below. Supplementary Figure 1, the monolithic baseline works until 4 limbs (i.e., 12 DOF), but fails to scale beyond that. Hence, each limb directly only experiences the torque it exerts on itself.