Optimizing Ragdoll Behaviour in Unity - visual-studio

Question

I'm trying to make a realistic transition between a walking animation and the falling process with a ragdoll. Basically when calling the "DoRagdoll" function, I'm adding the previous force from the walking animation to all rigidbody components in respect of their masses. Then I deactivate the animator component and turn on gravity for all rigidbodies. It works but it still kinda looks weird. I already tried a lot like the Unity documentation site for problems with ragdolls and I also played around with the joints of the different bodyparts. I used the buildin system to create the ragdoll. Any Ideas on how to improve the transition or how to create a more realistic ragdoll?
void Awake()
{
rbs = GetComponentsInChildren<Rigidbody>();
DoRagdoll(false);
foreach (Rigidbody rb in rbs)
{
rb.useGravity = false;
//rb.isKinematic = true;
}
}
public void DoRagdoll (bool isRagdoll)
{
if (isRagdoll)
{
foreach (Rigidbody rb in rbs)
{
rb.AddForce(rb.mass * rb.velocity, ForceMode.Impulse);
}
}
GetComponent<Animator>().enabled = !isRagdoll;
if (isRagdoll)
{
foreach (Rigidbody rb in rbs)
{
rb.maxDepenetrationVelocity = 0.01f;
rb.useGravity = true;
//rb.isKinematic = false;
}
NavMeshAgent agent = GetComponent<NavMeshAgent>();
//GameObject.FindGameObjectWithTag("pelvis").GetComponent<PelvisPush>().PushPelvis();
rbSlowdown = true;
ragdollOn = true;
}
else
{
GetComponent<NavMeshAgent>().speed = GameObject.FindGameObjectWithTag("root").GetComponent<OldmanMovement>().movSpeed;
foreach (Rigidbody rb in rbs)
{
rb.useGravity = false;
//rb.isKinematic = true;
}
ragdollOn = false;
}
}