People who do robotics, is efficient stable balancing at rest something which is studied and applied ?
When maintaining related code, for example a Display implementation, or routing to some behaviors, it's sometimes much easier when it's alpha sorted: you immediately see what's implemented or not.
That's when you can hit the codesort shortcut to have this specific list (enum variants, match arms, etc.) sorted.
Some animals, mainly sharks which can't stop or they would be asphyxied, deal with that by having kind of 2 brains which are never both sleeping at the same time.