R15 Ragdoll Help

Hello, I’m wondering if anyone can provide me tips on how I can make a good R15 ragdoll system, I’ve gave it several attempts but I’ve came across many different issues each time. That and i’m not very familiar with physics and motor6ds.

In every attempt the body seems to jitter, and drag along the floor. (Biggest issue)
Limbs rotate beyond realistic boundaries

Note: The ragdoll i’m trying to create is being created on the client when the server gives permission

In the image provided that is my goal, it’s an R15 ragdoll but behaves like an R6 ragdoll almost

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whenever i need ragdoll, i use ball constrainsts between body parts. i have them disabled by default, and then when i want to activate ragdoll, i disable most of the motor6d’s connecting the body parts and enable the ball constrainsts

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What if I wanted it to behave like an R6 ragdoll, stiff?
How would I connect say the elbow to the upper arm without it bending?

Also that didn’t really answer my two main questions?

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