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Being a member of the kangaroo family, the rock wallaby has distinctive long hind feet and strong back legs. Rock wallabies have large, strong tendons in their hind legs which act as "springs". They have strong back legs and elongated hind feet for bounding. Rock wallabies are particularly agile on mountainsides and rocky outcrops.

Rock wallabies have the ability to hear very well: they can twitch their ears independently around to determine the direction of specific sounds, much as a cat does.

They have long, strong tails for balancing.

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