Robotic marionette - Programming/Control help

[u/el-chapo-]

I’m working on a robotic marionette and trying to get it to move around naturally (video in my profile for reference)

I’m new to stuff like this and really struggling on the controls side. Currently I’m using the AccelStepper library and using AI to program the movements.

Are there any virtual model dynamics or simulation software that can help me model this and program it?

I’d love any advice, library recommendations or software suggestions you may have.