Need a better physics engine for my AI robotics

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The discussion highlights the need for an improved physics engine for AI robotics, as the current system results in unrealistic movement. The user has found a method to utilize a GPU for linear search, allowing for better decision-making in robot movement. However, the existing physics engine fails to provide realistic walking and collision dynamics. The user seeks guidance on enhancing the physics simulation, particularly for motorized movements and complex interactions. The mention of ROS indicates a potential avenue for integrating better physics solutions into the robotics project.
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TL;DR
video-> https://www.youtube.com/watch?v=6HnMPvNpEP0 ai good - physics poor.
Summary: video-> https://www.youtube.com/watch?v=6HnMPvNpEP0 ai good - physics poor.

Ive stumbled apon an easy way to get a robot going with a gpu. I just treat it like a linear search and cap it off at the size of the gpu, and I get to brute force a good 3 steps in front.

Only problem is, my physics engine is terrible, and its walking unrealisticly, because the physics is unrealistic.

Im aware this is a motorized ragdoll system, there's good basic stuff on the internet, but I need some clues to how to get things properly realistic.

The body is a complex pendulum, but i need more than how it swings, I need to collide with things, and also have it motorized.

Any body with any help for me? This could be amazing if I get it better.
 
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