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We've got the exact same dilemma, at the moment, we only let ours out on the balcony with supervision. As long as they are just sitting and looking that's okay, but if they start getting rowdy or climbing into the window boxes, we bring them in.
Not an ideal solution, thinking about trying the cat netting as well.
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My cat usually goes on the balcony, rarely goes on the top edge of the balustrade. However last time we were there enjoying the sun and the weather and she jumped on it, walked left an right a few times, then started to lean forward along the balustrade (it's like a wall, but going diagonally forward and down) like if she wanted to jump (third floor, quite a jump it would have been.)
We stopped her, but still wondering if she'd have indeed been so stupid to jump!
we've just moved to a third (top) floor flat with a little balcony. I know we have to keep the prince inside for a bit to acclimatise him, but after a couple of weeks he seems to be getting a bit bored. So I took him out onto the balcony today and promptly got scared when he stuck his head over the edge between the railings a leaned over more than I'd like.
Am I being paranoid thinking he's stupid enough to try to jump down, and are cats innately aware of heights? It'd be nice to have the balcony windows open in the heat but I don't want him to jump.