Unity Hololens2 move a Ragdoll by force

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right now I am starting to code on a Hololens game in Unity. I want to move some body parts of a character but with physics.
For example I move the hand of the character to his mouth, then I let go and the hand will fall to a normal position. To get this work, I tried first without physics and the result (with objectmaipulator and nearinteractiongrabbable script) was this:
[pic of ugly hand][1]
So to get in the physics I read about the ragdoll wizard, but when I use him. The object manipulator wont work at all.
Can someone help me? Or recommend some good tutorial, because I could not find anything...
Thanks in advance!
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