https://mrl.snu.ac.kr/research/ProjectAgile/Agile.html
This is done using neural networks. I believe a project like that can be done by a few researchers over months, not years?
If you do this using "regular programming" instead, you'd have to write an insanely complex application that uses inverse kinematics etc.
https://en.wikipedia.org/wiki/Inverse_kinematics
A project like that requires a large team of developers, working over many years. Boston Dynamics is one example.