Inconsistent Ragdoll Behavior Between Unity Versions (character joints)

[NadaZilch]

Using Unity’s ragdoll wizzard, I created a ragdoll (i.e., character joints, colliders, and rigidbodies). In version 2023.1.20, the ragdoll’s behavior is generally good. However, in newer versions (2023.2+ including Unity 6; reproducible in 6000.0.20), the ragdoll behaves strangely. I haven’t been able to figure out what I’m doing wrong or what needs to be done to improve the ragdoll’s behavior in these newer Unity versions. Below is an example of the ragdoll’s behavior (same project opened in different versions of Unity).

Edit: I found the following topic, which might be related to this issue: [RAGDOLL] Character Joint Swing/Twist limitations does’t work - Unity Engine - Unity Discussions

[vetalpopovetskiy]

[RAGDOLL] Character Joint Swing/Twist limitations does't work

After researching the problems with Ragdoll, I realized that this is an unexpected behavior of PhysX + Unity Physics, and changing the Dumper/Spring value doesn’t help. Overall detailed customization of all fields, colliders and Rigidbody did not give better result than what I shared below. Can anyone help me with the angle constraints being ignored + sometimes I get bone displacement? Here are some tests with different settings. [2024-08-11 22-12-30]