# How to connect and control a ragdoll?

I want to evolve walking creatures like this

But have been struggling to set up physics of joints of a ragdoll. This is the best I got so far

But you can see cubes are not really following bones and they even fall apart at some point. I connected those cubes through Rigid Body Joint constraints and made them follow bone orientation (cube.worldOrientation = bone.worldOrientation) through python which in turn must be controlled by neural network output but for now they are just controlled by some sinusoidal functions of time. There must definitely better way to do this or at least improve on this.

• Related links: 1, 2 – Mentalist Apr 30 '16 at 15:56
• @Mentalist, I've seen 1 and it didn't help. 2 looks like it's made for artistic purposes, I however need it to maintain collision physics and be able to crudely simulate some robot which will evolve behaviors based on that. – Alex Azazel Apr 30 '16 at 19:06