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Animate ragdolls, invoke inverse kinematics or just control physics objects easier with PhysFollower. Using the PhysicsJointAnimator script you can set the local rotation and position of a RigidBody game object to match that of another object. This effectively lets you move an object in any way while having it still interact with physics (set an empty game object as the target and put it in the desired local position and rotation).

Comes with Scripts that help you easily set up a copy of an animation to move using physics, allowing ragdoll style collisions, as well as an example showing how the scripts can be used for Inverse kinematics.

Check out my Playlist for guides and a more in depth look at the plugin: