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https://youtu.be/Al1o1pGBzNw
Basically, I had a puppet doing a running animation off-screen, then I created an extra ragdoll and applied an advanced ballsocket constraint with limited XYZ rotation for both of the ragdolls' thighs + calves + feet so that the legs of the ragdoll on-screen would have the same rotational movement as the puppet off-screen.
Unfortunately, I can't seem to get any smooth interpolation with the puppeteer animations, anymore. It seems like one of the updates might have affected this, but I don't know whether it's an unintended bug or it was patched out for performance reasons. This change doesn't make this technique impossible, but it does look a bit worse.