Help with physics based npc

So I’m making a physics-based NPC similar to Boneworks so you can push it over and it will get back up or you can injure each individual joint in the rig but I don’t know how I would pull this off I know I should probably use body position + ball socket constraints but its a ton of math to get even just walking working and I was wondering if anyone made anything like this and if they could help me out a bit because this is a big challenge for me

this is what i have so far lol pretty bad if you ask me

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I can only suggest yo do some experimenting and see how you get on and once you have some sort of partly working solution come back and ask for help with that script.
You cant do any damage here by trying ANYTHING.

a little bit late but you can look at this