Pose Matching / making constraints hold pose?

So i have replicated physical animation by using align position and orientation on a ragdoll to achieve something like this:https://gyazo.com/33029a49d02c54aa730ce807a714a3ed
the green is the real character, just its normally invisible but i made it transparent and green for the demo.
so the problem i am having is pose matching. i want to replicate an effect like this https://gyazo.com/d09c7828e70c748954c5f3fa5ac335fd. i have tried disabling the align positions and anchoring the humanoidrootpart for the player and it turns out like this https://gyazo.com/7900753a4b7e5285779ab1dc32b26474 i have also tried just having both real and ragdoll character go down with it but it turns out like this https://gyazo.com/f9625c391a0557e7be37568e18c09e6c So if you guys have any ideas or suggestions at all let me know because ive tried everything i can think of. Also if you want to tinker around with the physical animation i have released it to public, https://www.roblox.com/library/4194343641/Physical-Animation

This is really cool man I was actually thinking of trying something similar myself after watching that GDC talk for the first time a while back but never got around to actually doing it.

Sorry, I’m extremely late to the post and don’t even know if your an active user anymore. That said, have you ever heard of inverse kinematics? It’s a process where you take joint parameters into account when calculating where to place an object. To me it sounds exactly like what you need.

Just a warning however, you should have a basic understanding of algebra and trigonometry to make this work.