How do i make ragdoll system

im trying to make ragdoll system
r6 or r15 preferably r6
the ability to unragdoll and reragdoll
limbs don’t collide with the torso whilst able to collide with the ground/other objects
disable player movement controls when ragdolled and enabled them when not ragdolled
ability to fling ragdoll

i tried to use the ai but it keeps giving me bad suggestions
examples:







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