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Here is a prototype I've been working on. THIS IS INCOMPLETE. I'm just showing a work-in-progress.
It is designed to keep a ragdoll balanced. There are no other pose constraints except one which keeps the center of gravity between the feet, in the direction of gravity (and other external forces).
It may be glitchy, since it is a low-resolution simulation, for those so inclined to know.
CONTROLS ARE DISPLAYED IN THE GAME. You must click the game screen for the controls to be active.