There's no reason why an ideal body needs to have such a high center of gravity though? Clearly we are wasting a lot of energy and capacity to maintain that balance. I am pretty the ideal body is actually a spider.
Actually bipedal systems are very energy efficient when walking and moving and very slightly inefficient when standing still.
Spiders can't reach as high. Unless you make them really big, but then they take up a lot of space
Humans are very space efficient