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Why is my ragdoll messing up my animation?

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I was trying to make a simple walk animation. So I just made the legs rotate forward and backward whoopdeedoo. So here is what it looks like: ![alt text][1] As you can see the legs are going inside the "torso" a little bit, which I expected since I am just rotating it, but it is fine for me. Now as far as I know, you can use an animator on a ragdoll instead of instantiating a ragdoll upon death or collision to make a character. But I am just wondering why the legs are colliding with the torso (I know, it sounds dumb), which makes the animation break like this: ![alt text][2] It doesn't stay still and soon falls off the platform :P but if I were to change an option on the animator while in play mode, it would fix itself back in place and the animation would work perfectly! ![alt text][3] [1]: https://s18.postimg.org/tq39ow8k9/asdasdsadads.png [2]: https://s18.postimg.org/p5h39k461/riparroni.png [3]: https://s18.postimg.org/p6vmgsfyx/asd.png Any ideas?

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