I'm trying to make a 2D quadraped robot stand and walk via physics.
My robot looks like this. (art is not mine. Source is vapgames)
It's rigged via Unity's 2D animation package and each joint/bone has it's own collider + rigidbody with the legs also having hingejoints connecting the lower part to the upper part and the upper part to the main body of the robot. I've also set up IK for both legs using the 2D IK package with the IK target being attached to their respective leg via fixedjoint and can be moved programmatically to move the legs with respect to IK.
I want it to stand up, as at the moment is just falls and acts as a generic limp ragdoll. I've tried these methods:
Adding downward force to the legs via the IK targets
Adding upward force to the torso
Animating the IK targets to try and get the bot to stand up with animatePhysics enabled.
All of these failed (downard force to legs did pretty much nothing, upward force to torso just made it float if there was no ground, animating the IK targets was too glitchy).
I'm out of ideas on how to actually do this now. I've looked around for guides but there seems to be nothing good (I keep getting this suggested to me but it doesn't help. It's in 3D and the only thing that could help, spider legs, isn't finished and probably never will be)
There's very little information on how to do this sort of stuff and even when I find people who know about active ragdolls they just say add force to the head (for a 3D active ragdoll), which I've already tried (see 2. on the list of what I've already tried) and don't explain anyt further.
If anyone could help, that'd be great!