[VR] How to make an active rigidbody work in VR, similar to how Nimsony or Boneworks does it?

I want to puppet a full body character in unity, and I want it all to be controlled by physics. Similarly to how it works in Boneworks, or how Nimsony did it. But I have no clue on how to achieve this. I appreciate any help that any of you can give.

I was trying to figure out something too, you might want procedural animation.