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Animating Ragdolls

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Hey, I have a question about animating ragdolls. I know how to make a ragdoll using Unity's wizard. I also get how to make it transition from Mecanim to ragdoll by disabling/enabling the animator and kinematic elements. However, I want to know if and how it is possible to combine Mecanim with a ragdoll. Say I have an animation that animates only the feet of my character - a simple walking animation, but without arm movements. The ragdoll should follow the movement while at the same time making the arms flail around. A great example of this would be this game, which is also being made in Unity: https://www.youtube.com/watch?v=GzDElvfQcU0 Due to the combination of animation and ragdolls, the combat really looks as smooth as butter. I want to achieve a similiar effect. Can anybody explain this or at least point me to a good resource? I really don't want to have to buy a plug-in as I want to understand the topic, not just slap it on my character. Thanks in advance.

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