I've got two sets of ragdolls. One I just leave as is to test it (top-right of attached), it falls to the ground and behaves as expected when it collides w/ the floor. The other I activate when any limb collides with a solid surface (ignoring it's own limbs). The limbs are previously driven by animation and a parent above (controlling the root) is driven by a rigidbody (Think of someone snowboarding flying through the air and grabbing their board). When the limb collides with a surface, I: Stop playback of the animation and disable the animation component Ensure all the limbs are no longer kinematic Unparent the ragdoll from it's parent rigidbody so the ragdoll would stop being driven by it The ragdoll then behaves erratically, joints oscillating across the above screen every frame. I have the solver iteration count set to max. None of the limbs collide with each other. I'm at a loss. Even more frustrating, when I pause the editor to go frame by frame to get a better look at what's breaking, it behaves as expected, the character joints bring the ragdoll back to a stable state. Any help?