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How can I move my Ragdoll?

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I made a ragdoll in Unity using HingeJoints2D and I want to move him. I made a script that move a character by using velocity and rigidbody but I find that the script does not work, so I found out about Physics but I can only pull my character in air and control him with mouse. Moreover I am unable to use animations because my player stop behaving like a ragdoll and physics stop working. The problem is that i research a lot on youtube and other tutorials but i could not find anything. Can somebody help me? I want to achieve something like Stick Fight: The Game

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