Currently im working on a PB animation system and I made some progress but....Its hard and there isnt anything much on the internet. Basically I setup the ragdoll and then apply a constant force on the head or hips to thurst upwards,to keep the ragdoll straight. Now comes the hard part : walking. I've managed to create a semi-working walking cycle by doing 2 functions attached to each leg with thursters and them using them with coroutines.The first problem is that i cant find a way to make a perfect interval based loop so that each leg waits for the other to move and then to move. The second problem is that i cant actually figure out a way to make him look like he is properly stepping. Any info on this dark magic subject would be a blessing guys! Thank you and have a good day!